Paper title: FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
Paper link: https://arxiv.org/abs/2312.08344
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