Foundationpose算法复现

Foundationpose算法复现过程记录

Foundationpose算法github地址
原论文地址

复现了一下Foundationpose，这个目前BOP排名第一的算法，简要记录一下。

1. 首先下载源码

git clone https://github.com/NVlabs/FoundationPose.git
cd FoundationPose 

2. 在FoundationPose新建两个文件夹demo_data, weights，并将权重 放到weights文件夹中并解压，将测试数据放到demo_data并解压。

3. 环境配置：

# create conda environment
create -n foundationpose python=3.9

# activate conda environment
conda activate foundationpose

# install dependencies \\requirements.txt中的包比较多，建议分块分多次安装，避免冲突问题
python -m pip install -r requirements.txt

# Install NVDiffRast
python -m pip install --quiet --no-cache-dir git+https://github.com/NVlabs/nvdiffrast.git
# 如果上述命令安装失败，则可以从该git地址下载nvdiffrast源码然后使用  python setup.py  命令安装



# 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
# # 如果上述命令安装失败，则可以从该https地址下载合适版本的kaolin然后使用  pip install "/path_to_whl"  命令安装，下面的 PyTorch3D也是类似的

# 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

4. 安装eigen库

cd $HOME && wget -q https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz && \
tar -xzf eigen-3.4.0.tar.gz && \
cd eigen-3.4.0 && mkdir build && cd build
cmake .. -Wno-dev -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++14 ..
sudo make install
cd $HOME && rm -rf eigen-3.4.0 eigen-3.4.0.tar.gz

5. 测试demo

python run_demo.py

得到如下可视化结果：

bug

OpenCV Error: Unspecified error (The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Carbon support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script) in cvShowImage, file /io/opencv/modules/highgui/src/window.cpp, line 545

sudo apt install libgtk2.0-dev pkg-config as the prompt says for Ubuntu users -> [Same Error]
pip uninstall opencv-python-headless -> [Other Error]
pip uninstall opencv-python; pip install opencv-python -> [Solved]