6D位姿检测FoundationPose demo测试

Paper title: FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

Paper link: https://arxiv.org/abs/2312.08344

Code link: GitHub - NVlabs/FoundationPose: [CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

环境配置：

# create conda environment
conda create -n foundationpose python=3.9

# activate conda environment
conda activate foundationpose

# Install Eigen3 3.4.0 under conda environment
conda install conda-forge::eigen=3.4.0
export CMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH:/eigen/path/under/conda"

# install dependencies
python -m pip install -r requirements.txt

# Install NVDiffRast
python -m pip install --quiet --no-cache-dir git+https://github.com/NVlabs/nvdiffrast.git

# Kaolin (Optional, needed if running model-free setup)
python -m pip install --quiet --no-cache-dir kaolin==0.15.0 -f https://nvidia-kaolin.s3.us-east-2.amazonaws.com/torch-2.0.0_cu118.html

# PyTorch3D
python -m pip install --quiet --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt200/download.html

# Build extensions
CMAKE_PREFIX_PATH=$CONDA_PREFIX/lib/python3.9/site-packages/pybind11/share/cmake/pybind11 bash build_all_conda.sh

模型参数和demo数据下载：

https://drive.google.com/drive/folders/1DFezOAD0oD1BblsXVxqDsl8fj0qzB82i?usp=sharing

https://drive.google.com/drive/folders/1pRyFmxYXmAnpku7nGRioZaKrVJtIsroP?usp=sharing

运行：

python run_demo.py