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diff --git a/megapose/download-data.html b/megapose/download-data.html
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@@ -194,7 +194,7 @@
-
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diff --git a/megapose/evaluate.html b/megapose/evaluate.html
index 0d55df96..2f780722 100644
--- a/megapose/evaluate.html
+++ b/megapose/evaluate.html
@@ -83,7 +83,7 @@
diff --git a/megapose/overview-repo.html b/megapose/overview-repo.html
deleted file mode 100644
index 2e75cd47..00000000
--- a/megapose/overview-repo.html
+++ /dev/null
@@ -1,221 +0,0 @@
-
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- Overview Repository - HappyPose
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diff --git a/megapose/overview-method.html b/megapose/overview.html
similarity index 66%
rename from megapose/overview-method.html
rename to megapose/overview.html
index ceed967f..ef9d17cd 100644
--- a/megapose/overview-method.html
+++ b/megapose/overview.html
@@ -3,7 +3,7 @@
- Overview Method - HappyPose
+ Overview - HappyPose
@@ -83,7 +83,7 @@
@@ -166,7 +166,48 @@ HappyPose
- Overview Method
+ MegaPose
+This repository contains code, models and dataset for our MegaPose paper.
+Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022.
+
+News
+
+- 09.01.2023 We release two new variants of our approach (see the Model Zoo).
+- 09.01.2023 Code, models and dataset are released in this repository.
+- 10.09.2022 The paper is accepted at CoRL 2022.
+
+Contributors
+The main contributors to the code are:
+
+- Yann Labbé (Inria, NVIDIA internship)
+- Lucas Manuelli (NVIDIA Seattle Robotics Lab)
+
+Citation
+If you find this source code useful please cite:
+@inproceedings{labbe2022megapose,
+ title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
+ booktitle = {CoRL},
+ author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
+ date = {2022}
+}
+
+Overview
+This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.
+Pose estimation of novel objects
+
+We provide pre-trained models for 6D pose estimation of novel objects.
+Given as inputs:
+
+- an RGB image (depth can also be used but is optional),
+- the intrinsic parameters of the camera,
+- a mesh of the object,
+- a bounding box of that object in the image,
+
+our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera.
+We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial.
+Large-scale synthetic dataset
+
+We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section.
@@ -176,7 +217,7 @@ Overview Meth
-
+
@@ -190,7 +231,7 @@ Overview Meth
-
+
diff --git a/megapose/test-install.html b/megapose/test-install.html
index ff8d9386..d8e0c4e2 100644
--- a/megapose/test-install.html
+++ b/megapose/test-install.html
@@ -83,7 +83,7 @@
diff --git a/print.html b/print.html
index af1fb6e9..259ad701 100644
--- a/print.html
+++ b/print.html
@@ -84,7 +84,7 @@
@@ -194,7 +194,7 @@ Installation
Create data directory
Create data dir /somewhere/convenient. The dataset to store are quite large.
-export HAPPYPOSE_DATA_DIR=/somewhere/convenient
+export MEGAPOSE_DATA_DIR=/somewhere/convenient
Configuration for the evaluation
If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace
@@ -276,13 +276,6 @@ BOP challenge 2020: single-view 2D detection + 6D pose estimation models
We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020. In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.
-Main entry points
-This repository is divided into different entry points
-
-- Inference:
run_cosypose_on_example.py is used to run the inference pipeline on a single example image.
-- Evaluation: ̀
run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets.
-- Training:
run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.
-
Downloading and preparing the data
All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually.
BOP Datasets
@@ -387,8 +380,48 @@ Training Detector
python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real
-Overview Method
-Overview Repository
+MegaPose
+This repository contains code, models and dataset for our MegaPose paper.
+Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022.
+
+News
+
+- 09.01.2023 We release two new variants of our approach (see the Model Zoo).
+- 09.01.2023 Code, models and dataset are released in this repository.
+- 10.09.2022 The paper is accepted at CoRL 2022.
+
+Contributors
+The main contributors to the code are:
+
+- Yann Labbé (Inria, NVIDIA internship)
+- Lucas Manuelli (NVIDIA Seattle Robotics Lab)
+
+Citation
+If you find this source code useful please cite:
+@inproceedings{labbe2022megapose,
+ title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
+ booktitle = {CoRL},
+ author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
+ date = {2022}
+}
+
+Overview
+This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.
+Pose estimation of novel objects
+
+We provide pre-trained models for 6D pose estimation of novel objects.
+Given as inputs:
+
+- an RGB image (depth can also be used but is optional),
+- the intrinsic parameters of the camera,
+- a mesh of the object,
+- a bounding box of that object in the image,
+
+our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera.
+We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial.
+Large-scale synthetic dataset
+
+We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section.
Download example data for minimal testing
cd $MEGAPOSE_DATA_DIR
wget https://memmo-data.laas.fr/static/examples.tar.xz
diff --git a/searchindex.js b/searchindex.js
index 98c34c00..655ec71a 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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Based on the work CosyPose and MegaPose . This directory is currently under development. Please refer to the documentation for more details.","breadcrumbs":"Introduction » HappyPose","id":"0","title":"HappyPose"},"1":{"body":"This installation procedure will be curated. git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git\ncd happypose\nconda env create -f environment.yml\nconda activate happypose\ncd happypose/pose_estimators/cosypose\npip install .\ncd ../../..\npip install -e . Installation of bop_toolkit : conda activate happypose\ncd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/\n# Remove all versions enforcing on requirements.txt\npip install -r requirements.txt -e .","breadcrumbs":"Introduction » Installation","id":"1","title":"Installation"},"10":{"body":"BOP We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020 . In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview Method » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"This repository is divided into different entry points Inference : run_cosypose_on_example.py is used to run the inference pipeline on a single example image. Evaluation : ̀run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets. Training : run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.","breadcrumbs":"Overview Repository » Main entry points","id":"11","title":"Main entry points"},"12":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"12","title":"Downloading and preparing the data"},"13":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"13","title":"BOP Datasets"},"14":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"14","title":"Models for minimal version"},"15":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"15","title":"Pre-trained models for single-view estimator"},"16":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"16","title":"2D detections"},"17":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"17","title":"Testing your installation"},"18":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"18","title":"Download pre-trained pose estimation models"},"19":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"19","title":"2. Run examples"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport HAPPYPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"20","title":"Evaluating CosyPose"},"21":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"21","title":"Train CosyPose"},"22":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"22","title":"Training Pose Estimator"},"23":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"23","title":"Training Detector"},"24":{"body":"","breadcrumbs":"Overview Method » Overview Method","id":"24","title":"Overview Method"},"25":{"body":"","breadcrumbs":"Overview Repository » Overview Repository","id":"25","title":"Overview Repository"},"26":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"26","title":"Download example data for minimal testing"},"27":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"27","title":"Download pre-trained pose estimation models"},"28":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"28","title":"Testing your installation"},"29":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"29","title":"Run examples"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"30","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview Method » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! 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In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"11","title":"Downloading and preparing the data"},"12":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"12","title":"BOP Datasets"},"13":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"13","title":"Models for minimal version"},"14":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"14","title":"Pre-trained models for single-view estimator"},"15":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"15","title":"2D detections"},"16":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"16","title":"Testing your installation"},"17":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"17","title":"Download pre-trained pose estimation models"},"18":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"18","title":"2. Run examples"},"19":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"19","title":"Evaluating CosyPose"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport MEGAPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"20","title":"Train CosyPose"},"21":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"21","title":"Training Pose Estimator"},"22":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"22","title":"Training Detector"},"23":{"body":"This repository contains code, models and dataset for our MegaPose paper. Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022. [Paper] [Project page]","breadcrumbs":"Overview » MegaPose","id":"23","title":"MegaPose"},"24":{"body":"09.01.2023 We release two new variants of our approach (see the Model Zoo ). 09.01.2023 Code, models and dataset are released in this repository. 10.09.2022 The paper is accepted at CoRL 2022.","breadcrumbs":"Overview » News","id":"24","title":"News"},"25":{"body":"The main contributors to the code are: Yann Labbé (Inria, NVIDIA internship) Lucas Manuelli (NVIDIA Seattle Robotics Lab)","breadcrumbs":"Overview » Contributors","id":"25","title":"Contributors"},"26":{"body":"If you find this source code useful please cite: @inproceedings{labbe2022megapose, title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \\& {{Compare}}}, booktitle = {CoRL}, author = {Labb\\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef}, date = {2022}\n}","breadcrumbs":"Overview » Citation","id":"26","title":"Citation"},"27":{"body":"This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.","breadcrumbs":"Overview » Overview","id":"27","title":"Overview"},"28":{"body":"We provide pre-trained models for 6D pose estimation of novel objects. Given as inputs: an RGB image (depth can also be used but is optional), the intrinsic parameters of the camera, a mesh of the object, a bounding box of that object in the image, our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera. We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial .","breadcrumbs":"Overview » Pose estimation of novel objects","id":"28","title":"Pose estimation of novel objects"},"29":{"body":"We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section .","breadcrumbs":"Overview » Large-scale synthetic dataset","id":"29","title":"Large-scale synthetic dataset"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"30","title":"Download example data for minimal testing"},"31":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"31","title":"Download pre-trained pose estimation models"},"32":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"32","title":"Testing your installation"},"33":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"33","title":"Run examples"},"34":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"34","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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Based on the work CosyPose and MegaPose . This directory is currently under development. Please refer to the documentation for more details.","breadcrumbs":"Introduction » HappyPose","id":"0","title":"HappyPose"},"1":{"body":"This installation procedure will be curated. git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git\ncd happypose\nconda env create -f environment.yml\nconda activate happypose\ncd happypose/pose_estimators/cosypose\npip install .\ncd ../../..\npip install -e . Installation of bop_toolkit : conda activate happypose\ncd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/\n# Remove all versions enforcing on requirements.txt\npip install -r requirements.txt -e .","breadcrumbs":"Introduction » Installation","id":"1","title":"Installation"},"10":{"body":"BOP We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020 . In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview Method » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"This repository is divided into different entry points Inference : run_cosypose_on_example.py is used to run the inference pipeline on a single example image. Evaluation : ̀run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets. Training : run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.","breadcrumbs":"Overview Repository » Main entry points","id":"11","title":"Main entry points"},"12":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"12","title":"Downloading and preparing the data"},"13":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"13","title":"BOP Datasets"},"14":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"14","title":"Models for minimal version"},"15":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"15","title":"Pre-trained models for single-view estimator"},"16":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"16","title":"2D detections"},"17":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"17","title":"Testing your installation"},"18":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"18","title":"Download pre-trained pose estimation models"},"19":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"19","title":"2. Run examples"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport HAPPYPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"20","title":"Evaluating CosyPose"},"21":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"21","title":"Train CosyPose"},"22":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"22","title":"Training Pose Estimator"},"23":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"23","title":"Training Detector"},"24":{"body":"","breadcrumbs":"Overview Method » Overview Method","id":"24","title":"Overview Method"},"25":{"body":"","breadcrumbs":"Overview Repository » Overview Repository","id":"25","title":"Overview Repository"},"26":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"26","title":"Download example data for minimal testing"},"27":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"27","title":"Download pre-trained pose estimation models"},"28":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"28","title":"Testing your installation"},"29":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"29","title":"Run examples"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"30","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview Method » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview Method » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview Method » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview Method » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview Method » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"11","title":"Downloading and preparing the data"},"12":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"12","title":"BOP Datasets"},"13":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"13","title":"Models for minimal version"},"14":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"14","title":"Pre-trained models for single-view estimator"},"15":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"15","title":"2D detections"},"16":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"16","title":"Testing your installation"},"17":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"17","title":"Download pre-trained pose estimation models"},"18":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"18","title":"2. Run examples"},"19":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"19","title":"Evaluating CosyPose"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport MEGAPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"20","title":"Train CosyPose"},"21":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"21","title":"Training Pose Estimator"},"22":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"22","title":"Training Detector"},"23":{"body":"This repository contains code, models and dataset for our MegaPose paper. Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022. [Paper] [Project page]","breadcrumbs":"Overview » MegaPose","id":"23","title":"MegaPose"},"24":{"body":"09.01.2023 We release two new variants of our approach (see the Model Zoo ). 09.01.2023 Code, models and dataset are released in this repository. 10.09.2022 The paper is accepted at CoRL 2022.","breadcrumbs":"Overview » News","id":"24","title":"News"},"25":{"body":"The main contributors to the code are: Yann Labbé (Inria, NVIDIA internship) Lucas Manuelli (NVIDIA Seattle Robotics Lab)","breadcrumbs":"Overview » Contributors","id":"25","title":"Contributors"},"26":{"body":"If you find this source code useful please cite: @inproceedings{labbe2022megapose, title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \\& {{Compare}}}, booktitle = {CoRL}, author = {Labb\\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef}, date = {2022}\n}","breadcrumbs":"Overview » Citation","id":"26","title":"Citation"},"27":{"body":"This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.","breadcrumbs":"Overview » Overview","id":"27","title":"Overview"},"28":{"body":"We provide pre-trained models for 6D pose estimation of novel objects. Given as inputs: an RGB image (depth can also be used but is optional), the intrinsic parameters of the camera, a mesh of the object, a bounding box of that object in the image, our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera. We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial .","breadcrumbs":"Overview » Pose estimation of novel objects","id":"28","title":"Pose estimation of novel objects"},"29":{"body":"We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section .","breadcrumbs":"Overview » Large-scale synthetic dataset","id":"29","title":"Large-scale synthetic dataset"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"30","title":"Download example data for minimal testing"},"31":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"31","title":"Download pre-trained pose estimation models"},"32":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"32","title":"Testing your installation"},"33":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"33","title":"Run examples"},"34":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"34","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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+++ b/megapose/overview.html
@@ -3,7 +3,7 @@
- Overview Method - HappyPose
+ Overview - HappyPose
@@ -83,7 +83,7 @@
@@ -166,7 +166,48 @@ HappyPose
- Overview Method
+ MegaPose
+This repository contains code, models and dataset for our MegaPose paper.
+Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022.
+
+News
+
+- 09.01.2023 We release two new variants of our approach (see the Model Zoo).
+- 09.01.2023 Code, models and dataset are released in this repository.
+- 10.09.2022 The paper is accepted at CoRL 2022.
+
+Contributors
+The main contributors to the code are:
+
+- Yann Labbé (Inria, NVIDIA internship)
+- Lucas Manuelli (NVIDIA Seattle Robotics Lab)
+
+Citation
+If you find this source code useful please cite:
+@inproceedings{labbe2022megapose,
+ title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
+ booktitle = {CoRL},
+ author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
+ date = {2022}
+}
+
+Overview
+This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.
+Pose estimation of novel objects
+
+We provide pre-trained models for 6D pose estimation of novel objects.
+Given as inputs:
+
+- an RGB image (depth can also be used but is optional),
+- the intrinsic parameters of the camera,
+- a mesh of the object,
+- a bounding box of that object in the image,
+
+our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera.
+We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial.
+Large-scale synthetic dataset
+
+We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section.
@@ -176,7 +217,7 @@ Overview Meth
-
+
@@ -190,7 +231,7 @@ Overview Meth
-
+
diff --git a/megapose/test-install.html b/megapose/test-install.html
index ff8d9386..d8e0c4e2 100644
--- a/megapose/test-install.html
+++ b/megapose/test-install.html
@@ -83,7 +83,7 @@
diff --git a/print.html b/print.html
index af1fb6e9..259ad701 100644
--- a/print.html
+++ b/print.html
@@ -84,7 +84,7 @@
@@ -194,7 +194,7 @@ Installation
Create data directory
Create data dir /somewhere/convenient. The dataset to store are quite large.
-export HAPPYPOSE_DATA_DIR=/somewhere/convenient
+export MEGAPOSE_DATA_DIR=/somewhere/convenient
Configuration for the evaluation
If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace
@@ -276,13 +276,6 @@ BOP challenge 2020: single-view 2D detection + 6D pose estimation models
We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020. In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.
-Main entry points
-This repository is divided into different entry points
-
-- Inference:
run_cosypose_on_example.py is used to run the inference pipeline on a single example image.
-- Evaluation: ̀
run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets.
-- Training:
run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.
-
Downloading and preparing the data
All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually.
BOP Datasets
@@ -387,8 +380,48 @@ Training Detector
python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real
-Overview Method
-Overview Repository
+MegaPose
+This repository contains code, models and dataset for our MegaPose paper.
+Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022.
+
+News
+
+- 09.01.2023 We release two new variants of our approach (see the Model Zoo).
+- 09.01.2023 Code, models and dataset are released in this repository.
+- 10.09.2022 The paper is accepted at CoRL 2022.
+
+Contributors
+The main contributors to the code are:
+
+- Yann Labbé (Inria, NVIDIA internship)
+- Lucas Manuelli (NVIDIA Seattle Robotics Lab)
+
+Citation
+If you find this source code useful please cite:
+@inproceedings{labbe2022megapose,
+ title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
+ booktitle = {CoRL},
+ author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
+ date = {2022}
+}
+
+Overview
+This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.
+Pose estimation of novel objects
+
+We provide pre-trained models for 6D pose estimation of novel objects.
+Given as inputs:
+
+- an RGB image (depth can also be used but is optional),
+- the intrinsic parameters of the camera,
+- a mesh of the object,
+- a bounding box of that object in the image,
+
+our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera.
+We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial.
+Large-scale synthetic dataset
+
+We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section.
Download example data for minimal testing
cd $MEGAPOSE_DATA_DIR
wget https://memmo-data.laas.fr/static/examples.tar.xz
diff --git a/searchindex.js b/searchindex.js
index 98c34c00..655ec71a 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
-Object.assign(window.search, {"doc_urls":["../../index.html#happypose","../../index.html#installation","../../index.html#create-data-directory","../../index.html#configuration-for-the-evaluation","cosypose/overview-method.html#citation","cosypose/overview-method.html#news","cosypose/overview-method.html#overview","cosypose/overview-method.html#single-view-single-object-6d-pose-estimator","cosypose/overview-method.html#synthetic-data-generation","cosypose/overview-method.html#multi-view-multi-object-scene-reconstruction","cosypose/overview-method.html#bop-challenge-2020-single-view-2d-detection--6d-pose-estimation-models","cosypose/overview-repo.html#main-entry-points","cosypose/download-data.html#downloading-and-preparing-the-data","cosypose/download-data.html#bop-datasets","cosypose/download-data.html#models-for-minimal-version","cosypose/download-data.html#pre-trained-models-for-single-view-estimator","cosypose/download-data.html#2d-detections","cosypose/test-install.html#testing-your-installation","cosypose/test-install.html#download-pre-trained-pose-estimation-models","cosypose/test-install.html#2-run-examples","cosypose/evaluate.html#evaluating-cosypose","cosypose/train.html#train-cosypose","cosypose/train.html#training-pose-estimator","cosypose/train.html#training-detector","megapose/overview-method.html#overview-method","megapose/overview-repo.html#overview-repository","megapose/download-data.html#download-example-data-for-minimal-testing","megapose/download-data.html#download-pre-trained-pose-estimation-models","megapose/test-install.html#testing-your-installation","megapose/test-install.html#run-examples","megapose/evaluate.html#evaluating-megapose"],"index":{"documentStore":{"docInfo":{"0":{"body":29,"breadcrumbs":2,"title":1},"1":{"body":45,"breadcrumbs":2,"title":1},"10":{"body":57,"breadcrumbs":13,"title":11},"11":{"body":42,"breadcrumbs":5,"title":3},"12":{"body":19,"breadcrumbs":6,"title":3},"13":{"body":146,"breadcrumbs":5,"title":2},"14":{"body":50,"breadcrumbs":6,"title":3},"15":{"body":58,"breadcrumbs":9,"title":6},"16":{"body":120,"breadcrumbs":5,"title":2},"17":{"body":0,"breadcrumbs":4,"title":2},"18":{"body":50,"breadcrumbs":8,"title":6},"19":{"body":16,"breadcrumbs":5,"title":3},"2":{"body":10,"breadcrumbs":4,"title":3},"20":{"body":32,"breadcrumbs":4,"title":2},"21":{"body":0,"breadcrumbs":4,"title":2},"22":{"body":8,"breadcrumbs":5,"title":3},"23":{"body":7,"breadcrumbs":4,"title":2},"24":{"body":0,"breadcrumbs":4,"title":2},"25":{"body":0,"breadcrumbs":4,"title":2},"26":{"body":8,"breadcrumbs":8,"title":5},"27":{"body":10,"breadcrumbs":9,"title":6},"28":{"body":8,"breadcrumbs":4,"title":2},"29":{"body":9,"breadcrumbs":4,"title":2},"3":{"body":44,"breadcrumbs":3,"title":2},"30":{"body":34,"breadcrumbs":4,"title":2},"4":{"body":74,"breadcrumbs":3,"title":1},"5":{"body":65,"breadcrumbs":3,"title":1},"6":{"body":0,"breadcrumbs":3,"title":1},"7":{"body":61,"breadcrumbs":9,"title":7},"8":{"body":19,"breadcrumbs":5,"title":3},"9":{"body":83,"breadcrumbs":8,"title":6}},"docs":{"0":{"body":"Tests Packaging pre-commit.ci status Documentation Status codecov Code style: black Toolbox and trackers for object pose-estimation. Based on the work CosyPose and MegaPose . This directory is currently under development. Please refer to the documentation for more details.","breadcrumbs":"Introduction » HappyPose","id":"0","title":"HappyPose"},"1":{"body":"This installation procedure will be curated. git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git\ncd happypose\nconda env create -f environment.yml\nconda activate happypose\ncd happypose/pose_estimators/cosypose\npip install .\ncd ../../..\npip install -e . Installation of bop_toolkit : conda activate happypose\ncd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/\n# Remove all versions enforcing on requirements.txt\npip install -r requirements.txt -e .","breadcrumbs":"Introduction » Installation","id":"1","title":"Installation"},"10":{"body":"BOP We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020 . In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview Method » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"This repository is divided into different entry points Inference : run_cosypose_on_example.py is used to run the inference pipeline on a single example image. Evaluation : ̀run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets. Training : run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.","breadcrumbs":"Overview Repository » Main entry points","id":"11","title":"Main entry points"},"12":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"12","title":"Downloading and preparing the data"},"13":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"13","title":"BOP Datasets"},"14":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"14","title":"Models for minimal version"},"15":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"15","title":"Pre-trained models for single-view estimator"},"16":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"16","title":"2D detections"},"17":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"17","title":"Testing your installation"},"18":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"18","title":"Download pre-trained pose estimation models"},"19":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"19","title":"2. Run examples"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport HAPPYPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"20","title":"Evaluating CosyPose"},"21":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"21","title":"Train CosyPose"},"22":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"22","title":"Training Pose Estimator"},"23":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"23","title":"Training Detector"},"24":{"body":"","breadcrumbs":"Overview Method » Overview Method","id":"24","title":"Overview Method"},"25":{"body":"","breadcrumbs":"Overview Repository » Overview Repository","id":"25","title":"Overview Repository"},"26":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"26","title":"Download example data for minimal testing"},"27":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"27","title":"Download pre-trained pose estimation models"},"28":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"28","title":"Testing your installation"},"29":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"29","title":"Run examples"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"30","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview Method » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview Method » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview Method » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview Method » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview Method » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"11","title":"Downloading and preparing the data"},"12":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"12","title":"BOP Datasets"},"13":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"13","title":"Models for minimal version"},"14":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"14","title":"Pre-trained models for single-view estimator"},"15":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"15","title":"2D detections"},"16":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"16","title":"Testing your installation"},"17":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"17","title":"Download pre-trained pose estimation models"},"18":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"18","title":"2. Run examples"},"19":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"19","title":"Evaluating CosyPose"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport MEGAPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"20","title":"Train CosyPose"},"21":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"21","title":"Training Pose Estimator"},"22":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"22","title":"Training Detector"},"23":{"body":"This repository contains code, models and dataset for our MegaPose paper. Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022. [Paper] [Project page]","breadcrumbs":"Overview » MegaPose","id":"23","title":"MegaPose"},"24":{"body":"09.01.2023 We release two new variants of our approach (see the Model Zoo ). 09.01.2023 Code, models and dataset are released in this repository. 10.09.2022 The paper is accepted at CoRL 2022.","breadcrumbs":"Overview » News","id":"24","title":"News"},"25":{"body":"The main contributors to the code are: Yann Labbé (Inria, NVIDIA internship) Lucas Manuelli (NVIDIA Seattle Robotics Lab)","breadcrumbs":"Overview » Contributors","id":"25","title":"Contributors"},"26":{"body":"If you find this source code useful please cite: @inproceedings{labbe2022megapose, title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \\& {{Compare}}}, booktitle = {CoRL}, author = {Labb\\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef}, date = {2022}\n}","breadcrumbs":"Overview » Citation","id":"26","title":"Citation"},"27":{"body":"This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.","breadcrumbs":"Overview » Overview","id":"27","title":"Overview"},"28":{"body":"We provide pre-trained models for 6D pose estimation of novel objects. Given as inputs: an RGB image (depth can also be used but is optional), the intrinsic parameters of the camera, a mesh of the object, a bounding box of that object in the image, our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera. We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial .","breadcrumbs":"Overview » Pose estimation of novel objects","id":"28","title":"Pose estimation of novel objects"},"29":{"body":"We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section .","breadcrumbs":"Overview » Large-scale synthetic dataset","id":"29","title":"Large-scale synthetic dataset"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"30","title":"Download example data for minimal testing"},"31":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"31","title":"Download pre-trained pose estimation models"},"32":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"32","title":"Testing your installation"},"33":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"33","title":"Run examples"},"34":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"34","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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Based on the work CosyPose and MegaPose . This directory is currently under development. Please refer to the documentation for more details.","breadcrumbs":"Introduction » HappyPose","id":"0","title":"HappyPose"},"1":{"body":"This installation procedure will be curated. git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git\ncd happypose\nconda env create -f environment.yml\nconda activate happypose\ncd happypose/pose_estimators/cosypose\npip install .\ncd ../../..\npip install -e . Installation of bop_toolkit : conda activate happypose\ncd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/\n# Remove all versions enforcing on requirements.txt\npip install -r requirements.txt -e .","breadcrumbs":"Introduction » Installation","id":"1","title":"Installation"},"10":{"body":"BOP We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020 . In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview Method » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"This repository is divided into different entry points Inference : run_cosypose_on_example.py is used to run the inference pipeline on a single example image. Evaluation : ̀run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets. Training : run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.","breadcrumbs":"Overview Repository » Main entry points","id":"11","title":"Main entry points"},"12":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"12","title":"Downloading and preparing the data"},"13":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"13","title":"BOP Datasets"},"14":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"14","title":"Models for minimal version"},"15":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"15","title":"Pre-trained models for single-view estimator"},"16":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"16","title":"2D detections"},"17":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"17","title":"Testing your installation"},"18":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"18","title":"Download pre-trained pose estimation models"},"19":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"19","title":"2. Run examples"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport HAPPYPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"20","title":"Evaluating CosyPose"},"21":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"21","title":"Train CosyPose"},"22":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"22","title":"Training Pose Estimator"},"23":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"23","title":"Training Detector"},"24":{"body":"","breadcrumbs":"Overview Method » Overview Method","id":"24","title":"Overview Method"},"25":{"body":"","breadcrumbs":"Overview Repository » Overview Repository","id":"25","title":"Overview Repository"},"26":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"26","title":"Download example data for minimal testing"},"27":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"27","title":"Download pre-trained pose estimation models"},"28":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"28","title":"Testing your installation"},"29":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"29","title":"Run examples"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"30","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview Method » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview Method » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview Method » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview Method » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview Method » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"11","title":"Downloading and preparing the data"},"12":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"12","title":"BOP Datasets"},"13":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"13","title":"Models for minimal version"},"14":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"14","title":"Pre-trained models for single-view estimator"},"15":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"15","title":"2D detections"},"16":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"16","title":"Testing your installation"},"17":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"17","title":"Download pre-trained pose estimation models"},"18":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"18","title":"2. Run examples"},"19":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"19","title":"Evaluating CosyPose"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport MEGAPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"20","title":"Train CosyPose"},"21":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"21","title":"Training Pose Estimator"},"22":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"22","title":"Training Detector"},"23":{"body":"This repository contains code, models and dataset for our MegaPose paper. Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022. [Paper] [Project page]","breadcrumbs":"Overview » MegaPose","id":"23","title":"MegaPose"},"24":{"body":"09.01.2023 We release two new variants of our approach (see the Model Zoo ). 09.01.2023 Code, models and dataset are released in this repository. 10.09.2022 The paper is accepted at CoRL 2022.","breadcrumbs":"Overview » News","id":"24","title":"News"},"25":{"body":"The main contributors to the code are: Yann Labbé (Inria, NVIDIA internship) Lucas Manuelli (NVIDIA Seattle Robotics Lab)","breadcrumbs":"Overview » Contributors","id":"25","title":"Contributors"},"26":{"body":"If you find this source code useful please cite: @inproceedings{labbe2022megapose, title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \\& {{Compare}}}, booktitle = {CoRL}, author = {Labb\\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef}, date = {2022}\n}","breadcrumbs":"Overview » Citation","id":"26","title":"Citation"},"27":{"body":"This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.","breadcrumbs":"Overview » Overview","id":"27","title":"Overview"},"28":{"body":"We provide pre-trained models for 6D pose estimation of novel objects. Given as inputs: an RGB image (depth can also be used but is optional), the intrinsic parameters of the camera, a mesh of the object, a bounding box of that object in the image, our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera. We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial .","breadcrumbs":"Overview » Pose estimation of novel objects","id":"28","title":"Pose estimation of novel objects"},"29":{"body":"We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section .","breadcrumbs":"Overview » Large-scale synthetic dataset","id":"29","title":"Large-scale synthetic dataset"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"30","title":"Download example data for minimal testing"},"31":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"31","title":"Download pre-trained pose estimation models"},"32":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"32","title":"Testing your installation"},"33":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"33","title":"Run examples"},"34":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"34","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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- Overview Method
+MegaPose
+This repository contains code, models and dataset for our MegaPose paper.
+Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022.
+ +News
+-
+
- 09.01.2023 We release two new variants of our approach (see the Model Zoo). +
- 09.01.2023 Code, models and dataset are released in this repository. +
- 10.09.2022 The paper is accepted at CoRL 2022. +
Contributors
+The main contributors to the code are:
+-
+
- Yann Labbé (Inria, NVIDIA internship) +
- Lucas Manuelli (NVIDIA Seattle Robotics Lab) +
Citation
+If you find this source code useful please cite:
+@inproceedings{labbe2022megapose,
+ title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
+ booktitle = {CoRL},
+ author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
+ date = {2022}
+}
+Overview
+This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.
+Pose estimation of novel objects
+
+We provide pre-trained models for 6D pose estimation of novel objects.
+Given as inputs:
+-
+
- an RGB image (depth can also be used but is optional), +
- the intrinsic parameters of the camera, +
- a mesh of the object, +
- a bounding box of that object in the image, +
our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera.
+We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial.
+Large-scale synthetic dataset
+
+We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section.
Overview Meth
-
+
@@ -190,7 +231,7 @@ Overview Meth
-
+
diff --git a/megapose/test-install.html b/megapose/test-install.html
index ff8d9386..d8e0c4e2 100644
--- a/megapose/test-install.html
+++ b/megapose/test-install.html
@@ -83,7 +83,7 @@
diff --git a/print.html b/print.html
index af1fb6e9..259ad701 100644
--- a/print.html
+++ b/print.html
@@ -84,7 +84,7 @@
@@ -194,7 +194,7 @@ Installation
Create data directory
Create data dir /somewhere/convenient. The dataset to store are quite large.
-export HAPPYPOSE_DATA_DIR=/somewhere/convenient
+export MEGAPOSE_DATA_DIR=/somewhere/convenient
Configuration for the evaluation
Installation
Create data directory
Create data dir /somewhere/convenient. The dataset to store are quite large.
-export HAPPYPOSE_DATA_DIR=/somewhere/convenient
+export MEGAPOSE_DATA_DIR=/somewhere/convenient
Configuration for the evaluation
Create data dir /somewhere/convenient. The dataset to store are quite large.
-export HAPPYPOSE_DATA_DIR=/somewhere/convenient
+export MEGAPOSE_DATA_DIR=/somewhere/convenient
If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace
BOP challenge 2020: single-view 2D detection + 6D pose estimation models
We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020. In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.
-Main entry points
-This repository is divided into different entry points
--
-
- Inference:
run_cosypose_on_example.pyis used to run the inference pipeline on a single example image.
- - Evaluation: ̀
run_full_cosypose_evaluation.pyis ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets.
- - Training:
run_detector_training.pyis used to train the detector part of Cosypose.run_pose_training.pycan be used to train thecoarsemodel or therefinermodel.
-
Downloading and preparing the data
All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually.
BOP Datasets
@@ -387,8 +380,48 @@Training Detector
python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real
Overview Method
-Overview Repository
+MegaPose
+This repository contains code, models and dataset for our MegaPose paper.
+Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022.
+ +News
+-
+
- 09.01.2023 We release two new variants of our approach (see the Model Zoo). +
- 09.01.2023 Code, models and dataset are released in this repository. +
- 10.09.2022 The paper is accepted at CoRL 2022. +
Contributors
+The main contributors to the code are:
+-
+
- Yann Labbé (Inria, NVIDIA internship) +
- Lucas Manuelli (NVIDIA Seattle Robotics Lab) +
Citation
+If you find this source code useful please cite:
+@inproceedings{labbe2022megapose,
+ title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \& {{Compare}}},
+ booktitle = {CoRL},
+ author = {Labb\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef},
+ date = {2022}
+}
+Overview
+This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.
+Pose estimation of novel objects
+
+We provide pre-trained models for 6D pose estimation of novel objects.
+Given as inputs:
+-
+
- an RGB image (depth can also be used but is optional), +
- the intrinsic parameters of the camera, +
- a mesh of the object, +
- a bounding box of that object in the image, +
our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera.
+We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial.
+Large-scale synthetic dataset
+
+We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section.
Download example data for minimal testing
cd $MEGAPOSE_DATA_DIR
wget https://memmo-data.laas.fr/static/examples.tar.xz
diff --git a/searchindex.js b/searchindex.js
index 98c34c00..655ec71a 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
-Object.assign(window.search, {"doc_urls":["../../index.html#happypose","../../index.html#installation","../../index.html#create-data-directory","../../index.html#configuration-for-the-evaluation","cosypose/overview-method.html#citation","cosypose/overview-method.html#news","cosypose/overview-method.html#overview","cosypose/overview-method.html#single-view-single-object-6d-pose-estimator","cosypose/overview-method.html#synthetic-data-generation","cosypose/overview-method.html#multi-view-multi-object-scene-reconstruction","cosypose/overview-method.html#bop-challenge-2020-single-view-2d-detection--6d-pose-estimation-models","cosypose/overview-repo.html#main-entry-points","cosypose/download-data.html#downloading-and-preparing-the-data","cosypose/download-data.html#bop-datasets","cosypose/download-data.html#models-for-minimal-version","cosypose/download-data.html#pre-trained-models-for-single-view-estimator","cosypose/download-data.html#2d-detections","cosypose/test-install.html#testing-your-installation","cosypose/test-install.html#download-pre-trained-pose-estimation-models","cosypose/test-install.html#2-run-examples","cosypose/evaluate.html#evaluating-cosypose","cosypose/train.html#train-cosypose","cosypose/train.html#training-pose-estimator","cosypose/train.html#training-detector","megapose/overview-method.html#overview-method","megapose/overview-repo.html#overview-repository","megapose/download-data.html#download-example-data-for-minimal-testing","megapose/download-data.html#download-pre-trained-pose-estimation-models","megapose/test-install.html#testing-your-installation","megapose/test-install.html#run-examples","megapose/evaluate.html#evaluating-megapose"],"index":{"documentStore":{"docInfo":{"0":{"body":29,"breadcrumbs":2,"title":1},"1":{"body":45,"breadcrumbs":2,"title":1},"10":{"body":57,"breadcrumbs":13,"title":11},"11":{"body":42,"breadcrumbs":5,"title":3},"12":{"body":19,"breadcrumbs":6,"title":3},"13":{"body":146,"breadcrumbs":5,"title":2},"14":{"body":50,"breadcrumbs":6,"title":3},"15":{"body":58,"breadcrumbs":9,"title":6},"16":{"body":120,"breadcrumbs":5,"title":2},"17":{"body":0,"breadcrumbs":4,"title":2},"18":{"body":50,"breadcrumbs":8,"title":6},"19":{"body":16,"breadcrumbs":5,"title":3},"2":{"body":10,"breadcrumbs":4,"title":3},"20":{"body":32,"breadcrumbs":4,"title":2},"21":{"body":0,"breadcrumbs":4,"title":2},"22":{"body":8,"breadcrumbs":5,"title":3},"23":{"body":7,"breadcrumbs":4,"title":2},"24":{"body":0,"breadcrumbs":4,"title":2},"25":{"body":0,"breadcrumbs":4,"title":2},"26":{"body":8,"breadcrumbs":8,"title":5},"27":{"body":10,"breadcrumbs":9,"title":6},"28":{"body":8,"breadcrumbs":4,"title":2},"29":{"body":9,"breadcrumbs":4,"title":2},"3":{"body":44,"breadcrumbs":3,"title":2},"30":{"body":34,"breadcrumbs":4,"title":2},"4":{"body":74,"breadcrumbs":3,"title":1},"5":{"body":65,"breadcrumbs":3,"title":1},"6":{"body":0,"breadcrumbs":3,"title":1},"7":{"body":61,"breadcrumbs":9,"title":7},"8":{"body":19,"breadcrumbs":5,"title":3},"9":{"body":83,"breadcrumbs":8,"title":6}},"docs":{"0":{"body":"Tests Packaging pre-commit.ci status Documentation Status codecov Code style: black Toolbox and trackers for object pose-estimation. Based on the work CosyPose and MegaPose . This directory is currently under development. Please refer to the documentation for more details.","breadcrumbs":"Introduction » HappyPose","id":"0","title":"HappyPose"},"1":{"body":"This installation procedure will be curated. git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git\ncd happypose\nconda env create -f environment.yml\nconda activate happypose\ncd happypose/pose_estimators/cosypose\npip install .\ncd ../../..\npip install -e . Installation of bop_toolkit : conda activate happypose\ncd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/\n# Remove all versions enforcing on requirements.txt\npip install -r requirements.txt -e .","breadcrumbs":"Introduction » Installation","id":"1","title":"Installation"},"10":{"body":"BOP We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020 . In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview Method » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"This repository is divided into different entry points Inference : run_cosypose_on_example.py is used to run the inference pipeline on a single example image. Evaluation : ̀run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets. Training : run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.","breadcrumbs":"Overview Repository » Main entry points","id":"11","title":"Main entry points"},"12":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"12","title":"Downloading and preparing the data"},"13":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"13","title":"BOP Datasets"},"14":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"14","title":"Models for minimal version"},"15":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"15","title":"Pre-trained models for single-view estimator"},"16":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"16","title":"2D detections"},"17":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"17","title":"Testing your installation"},"18":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"18","title":"Download pre-trained pose estimation models"},"19":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"19","title":"2. Run examples"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport HAPPYPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"20","title":"Evaluating CosyPose"},"21":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"21","title":"Train CosyPose"},"22":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"22","title":"Training Pose Estimator"},"23":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"23","title":"Training Detector"},"24":{"body":"","breadcrumbs":"Overview Method » Overview Method","id":"24","title":"Overview Method"},"25":{"body":"","breadcrumbs":"Overview Repository » Overview Repository","id":"25","title":"Overview Repository"},"26":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"26","title":"Download example data for minimal testing"},"27":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"27","title":"Download pre-trained pose estimation models"},"28":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"28","title":"Testing your installation"},"29":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"29","title":"Run examples"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"30","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview Method » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview Method » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview Method » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview Method » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview Method » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. 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In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"11","title":"Downloading and preparing the data"},"12":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"12","title":"BOP Datasets"},"13":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"13","title":"Models for minimal version"},"14":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"14","title":"Pre-trained models for single-view estimator"},"15":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"15","title":"2D detections"},"16":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"16","title":"Testing your installation"},"17":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"17","title":"Download pre-trained pose estimation models"},"18":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"18","title":"2. Run examples"},"19":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"19","title":"Evaluating CosyPose"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport MEGAPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"20","title":"Train CosyPose"},"21":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"21","title":"Training Pose Estimator"},"22":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"22","title":"Training Detector"},"23":{"body":"This repository contains code, models and dataset for our MegaPose paper. Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022. [Paper] [Project page]","breadcrumbs":"Overview » MegaPose","id":"23","title":"MegaPose"},"24":{"body":"09.01.2023 We release two new variants of our approach (see the Model Zoo ). 09.01.2023 Code, models and dataset are released in this repository. 10.09.2022 The paper is accepted at CoRL 2022.","breadcrumbs":"Overview » News","id":"24","title":"News"},"25":{"body":"The main contributors to the code are: Yann Labbé (Inria, NVIDIA internship) Lucas Manuelli (NVIDIA Seattle Robotics Lab)","breadcrumbs":"Overview » Contributors","id":"25","title":"Contributors"},"26":{"body":"If you find this source code useful please cite: @inproceedings{labbe2022megapose, title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \\& {{Compare}}}, booktitle = {CoRL}, author = {Labb\\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef}, date = {2022}\n}","breadcrumbs":"Overview » Citation","id":"26","title":"Citation"},"27":{"body":"This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.","breadcrumbs":"Overview » Overview","id":"27","title":"Overview"},"28":{"body":"We provide pre-trained models for 6D pose estimation of novel objects. Given as inputs: an RGB image (depth can also be used but is optional), the intrinsic parameters of the camera, a mesh of the object, a bounding box of that object in the image, our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera. We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial .","breadcrumbs":"Overview » Pose estimation of novel objects","id":"28","title":"Pose estimation of novel objects"},"29":{"body":"We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section .","breadcrumbs":"Overview » Large-scale synthetic dataset","id":"29","title":"Large-scale synthetic dataset"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"30","title":"Download example data for minimal testing"},"31":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"31","title":"Download pre-trained pose estimation models"},"32":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"32","title":"Testing your installation"},"33":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"33","title":"Run examples"},"34":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"34","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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Based on the work CosyPose and MegaPose . This directory is currently under development. Please refer to the documentation for more details.","breadcrumbs":"Introduction » HappyPose","id":"0","title":"HappyPose"},"1":{"body":"This installation procedure will be curated. git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git\ncd happypose\nconda env create -f environment.yml\nconda activate happypose\ncd happypose/pose_estimators/cosypose\npip install .\ncd ../../..\npip install -e . Installation of bop_toolkit : conda activate happypose\ncd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/\n# Remove all versions enforcing on requirements.txt\npip install -r requirements.txt -e .","breadcrumbs":"Introduction » Installation","id":"1","title":"Installation"},"10":{"body":"BOP We used our {coarse+refinement} single-view 6D pose estimation method in the BOP challenge 2020 . In addition, we trained a MaskRCNN detector (torchvision's implementation) on each of the 7 core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). We provide 2D detectors and 6D pose estimation models for these datasets. All training (including 2D detector), inference and evaluation code are available in this repository. It can be easily used for another dataset in the BOP format.","breadcrumbs":"Overview Method » BOP challenge 2020: single-view 2D detection + 6D pose estimation models","id":"10","title":"BOP challenge 2020: single-view 2D detection + 6D pose estimation models"},"11":{"body":"This repository is divided into different entry points Inference : run_cosypose_on_example.py is used to run the inference pipeline on a single example image. Evaluation : ̀run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets. Training : run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.","breadcrumbs":"Overview Repository » Main entry points","id":"11","title":"Main entry points"},"12":{"body":"All data used (datasets, models, results, ...) are stored in a directory $MEGAPOSE_DATA_DIR that you created in the Readsme. We provide the utilities for downloading required data and models. All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"12","title":"Downloading and preparing the data"},"13":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"13","title":"BOP Datasets"},"14":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"14","title":"Models for minimal version"},"15":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"15","title":"Pre-trained models for single-view estimator"},"16":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"16","title":"2D detections"},"17":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"17","title":"Testing your installation"},"18":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"18","title":"Download pre-trained pose estimation models"},"19":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"19","title":"2. Run examples"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport HAPPYPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"20","title":"Evaluating CosyPose"},"21":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"21","title":"Train CosyPose"},"22":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"22","title":"Training Pose Estimator"},"23":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"23","title":"Training Detector"},"24":{"body":"","breadcrumbs":"Overview Method » Overview Method","id":"24","title":"Overview Method"},"25":{"body":"","breadcrumbs":"Overview Repository » Overview Repository","id":"25","title":"Overview Repository"},"26":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"26","title":"Download example data for minimal testing"},"27":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"27","title":"Download pre-trained pose estimation models"},"28":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"28","title":"Testing your installation"},"29":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"29","title":"Run examples"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"30","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview Method » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview Method » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview Method » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview Method » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview Method » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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All of the files can also be downloaded manually .","breadcrumbs":"Downloading and preparing the data » Downloading and preparing the data","id":"11","title":"Downloading and preparing the data"},"12":{"body":"For both T-LESS and YCB-Video, we use the datasets in the BOP format . If you already have them on your disk, place them in $MEGAPOSE_DATA_DIR/bop_datasets. Alternatively, you can download it using : python -m happypose.toolbox.utils.download --bop_dataset=ycbv\npython -m happypose.toolbox.utils.download --bop_dataset=tless Additional files that contain information about the datasets used to fairly compare with prior works on both datasets. python -m happypose.toolbox.utils.download --bop_extra_files=ycbv\npython -m happypose.toolbox.utils.download --bop_extra_files=tless We use pybullet for rendering images which requires object models to be provided in the URDF format. We provide converted URDF files, they can be downloaded using: python -m happypose.toolbox.utils.download --urdf_models=ycbv\npython -m happypose.toolbox.utils.download --urdf_models=tless.cad In the BOP format, the YCB objects 002_master_chef_can and 040_large_marker are considered symmetric, but not by previous works such as PoseCNN, PVNet and DeepIM. To ensure a fair comparison (using ADD instead of ADD-S for ADD-(S) for these objects), these objects must not be considered symmetric in the evaluation. To keep the uniformity of the models format, we generate a set of YCB objects models_bop-compat_eval that can be used to fairly compare our approach against previous works. You can download them directly: python -m happypose.toolbox.utils.download --ycbv_compat_models Notes: The URDF files were obtained using these commands (requires meshlab to be installed): python -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=ycbv\npython -m happypose.pose_estimators.cosypose.cosypose.scripts.convert_models_to_urdf --models=tless.cad Compatibility models were obtained using the following script: python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models","breadcrumbs":"Downloading and preparing the data » BOP Datasets","id":"12","title":"BOP Datasets"},"13":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Downloading and preparing the data » Models for minimal version","id":"13","title":"Models for minimal version"},"14":{"body":"The pre-trained models of the single-view pose estimator can be downloaded using: # YCB-V Single-view refiner\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020 # YCB-V Single-view refiner trained on synthetic data only\n# Only download this if you are interested in retraining the above model\npython -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719 # T-LESS coarse and refiner models\npython -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219\npython -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928","breadcrumbs":"Downloading and preparing the data » Pre-trained models for single-view estimator","id":"14","title":"Pre-trained models for single-view estimator"},"15":{"body":"To ensure a fair comparison with prior works on both datasets, we use the same detections as DeepIM (from PoseCNN) on YCB-Video and the same as Pix2pose (from a RetinaNet model) on T-LESS. Download the saved 2D detections for both datasets using python -m happypose.toolbox.utils.download --detections=ycbv_posecnn # SiSo detections: 1 detection with highest per score per class per image on all images\n# Available for each image of the T-LESS dataset (primesense sensor)\n# These are the same detections as used in Pix2pose's experiments\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_siso_top1 # ViVo detections: All detections for a subset of 1000 images of T-LESS.\n# Used in our multi-view experiments.\npython -m happypose.toolbox.utils.download --detections=tless_pix2pose_retinanet_vivo_all If you are interested in re-training a detector, please see the BOP 2020 section. Notes: The PoseCNN detections (and coarse pose estimates) on YCB-Video were extracted and converted from these PoseCNN results . The Pix2pose detections were extracted using pix2pose's code. We used the detection model from their paper, see here . For the ViVo detections, their code was slightly modified. The code used to extract detections can be found here .","breadcrumbs":"Downloading and preparing the data » 2D detections","id":"15","title":"2D detections"},"16":{"body":"","breadcrumbs":"Testing your installation » Testing your installation","id":"16","title":"Testing your installation"},"17":{"body":"#ycbv python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090 #tless python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074 python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801 python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-tless-pbr--233420","breadcrumbs":"Testing your installation » Download pre-trained pose estimation models","id":"17","title":"Download pre-trained pose estimation models"},"18":{"body":"You need to download the ycbv dataset to run this example. Please see the download section. python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_inference_on_example crackers --run-inference","breadcrumbs":"Testing your installation » 2. Run examples","id":"18","title":"2. Run examples"},"19":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. This needs to be adapted (SO3_grid not used for CosyPose) python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_full_cosypose_eval_new detector_run_id=bop_pbr coarse_run_id=coarse-bop-ycbv-pbr--724183 refiner_run_id=refiner-bop-ycbv-pbr--604090 ds_names=[\"ycbv.bop19\"] result_id=ycbv-debug detection_coarse_types=[[\"detector\",\"S03_grid\"]]","breadcrumbs":"Evaluate CosyPose » Evaluating CosyPose","id":"19","title":"Evaluating CosyPose"},"2":{"body":"Create data dir /somewhere/convenient. The dataset to store are quite large.\nexport MEGAPOSE_DATA_DIR=/somewhere/convenient","breadcrumbs":"Introduction » Create data directory","id":"2","title":"Create data directory"},"20":{"body":"","breadcrumbs":"Train CosyPose » Train CosyPose","id":"20","title":"Train CosyPose"},"21":{"body":"Example python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly","breadcrumbs":"Train CosyPose » Training Pose Estimator","id":"21","title":"Training Pose Estimator"},"22":{"body":"python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real","breadcrumbs":"Train CosyPose » Training Detector","id":"22","title":"Training Detector"},"23":{"body":"This repository contains code, models and dataset for our MegaPose paper. Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic. “MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.” In: CoRL 2022. [Paper] [Project page]","breadcrumbs":"Overview » MegaPose","id":"23","title":"MegaPose"},"24":{"body":"09.01.2023 We release two new variants of our approach (see the Model Zoo ). 09.01.2023 Code, models and dataset are released in this repository. 10.09.2022 The paper is accepted at CoRL 2022.","breadcrumbs":"Overview » News","id":"24","title":"News"},"25":{"body":"The main contributors to the code are: Yann Labbé (Inria, NVIDIA internship) Lucas Manuelli (NVIDIA Seattle Robotics Lab)","breadcrumbs":"Overview » Contributors","id":"25","title":"Contributors"},"26":{"body":"If you find this source code useful please cite: @inproceedings{labbe2022megapose, title = {{{MegaPose}}: {{6D Pose Estimation}} of {{Novel Objects}} via {{Render}} \\& {{Compare}}}, booktitle = {CoRL}, author = {Labb\\'e, Yann and Manuelli, Lucas and Mousavian, Arsalan and Tyree, Stephen and Birchfield, Stan and Tremblay, Jonathan and Carpentier, Justin and Aubry, Mathieu and Fox, Dieter and Sivic, Josef}, date = {2022}\n}","breadcrumbs":"Overview » Citation","id":"26","title":"Citation"},"27":{"body":"This repository contains pre-trained models for pose estimation of novel objects, and our synthetic training dataset. Most notable features are listed below.","breadcrumbs":"Overview » Overview","id":"27","title":"Overview"},"28":{"body":"We provide pre-trained models for 6D pose estimation of novel objects. Given as inputs: an RGB image (depth can also be used but is optional), the intrinsic parameters of the camera, a mesh of the object, a bounding box of that object in the image, our approach estimates the 6D pose of the object (3D rotation + 3D translation) with respect to the camera. We provide a script and an example for inference on novel objects. After installation, please see the Inference tutorial .","breadcrumbs":"Overview » Pose estimation of novel objects","id":"28","title":"Pose estimation of novel objects"},"29":{"body":"We provide the synthetic dataset we used to train MegaPose. The dataset contains 2 million images displaying more than 20,000 objects from the Google Scanned Objects and ShapeNet datasets. After installation, please see the Dataset section .","breadcrumbs":"Overview » Large-scale synthetic dataset","id":"29","title":"Large-scale synthetic dataset"},"3":{"body":"If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in bop_toolkit_lib/config.py, replace ######## Basic ######## # Folder with the BOP datasets.\nif 'BOP_PATH' in os.environ: datasets_path = os.environ['BOP_PATH']\nelse: datasets_path = r'/path/to/bop/datasets' # Folder with pose results to be evaluated.\nresults_path = r'/path/to/folder/with/results' # Folder for the calculated pose errors and performance scores.\neval_path = r'/path/to/eval/folder' with ######## Basic ######## # Folder with the BOP datasets.\ndatasets_path = str(os.environ['BOP_DATASETS_PATH'])\nresults_path = str(os.environ['BOP_RESULTS_PATH'])\neval_path = str(os.environ['BOP_EVAL_PATH'])","breadcrumbs":"Introduction » Configuration for the evaluation","id":"3","title":"Configuration for the evaluation"},"30":{"body":"cd $MEGAPOSE_DATA_DIR\nwget https://memmo-data.laas.fr/static/examples.tar.xz\ntar xf examples.tar.xz","breadcrumbs":"Downloading and preparing the data » Download example data for minimal testing","id":"30","title":"Download example data for minimal testing"},"31":{"body":"Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models: python -m happypose.toolbox.utils.download --megapose_models","breadcrumbs":"Downloading and preparing the data » Download pre-trained pose estimation models","id":"31","title":"Download pre-trained pose estimation models"},"32":{"body":"Make sur to download the data and models before running this script.","breadcrumbs":"Testing your installation » Testing your installation","id":"32","title":"Testing your installation"},"33":{"body":"python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_inference_on_example barbecue-sauce --run-inference --vis-outputs","breadcrumbs":"Testing your installation » Run examples","id":"33","title":"Run examples"},"34":{"body":"Please make sure you followed the steps relative to the evaluation in the main readme. An example to run the evaluation on YCBV dataset. Several datasets can be added to the list. python -m happypose.pose_estimators.megapose.src.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19] result_id=fastsam_kbestdet_1posehyp detection_coarse_types=[[\"sam\",\"SO3_grid\"]] inference.n_pose_hypotheses=1 skip_inference=true run_bop_eval=true","breadcrumbs":"Evaluate MegaPose » Evaluating Megapose","id":"34","title":"Evaluating Megapose"},"4":{"body":"CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé,\nJustin Carpentier,\nMathieu Aubry,\nJosef Sivic ECCV: European Conference on Computer Vision, 2020 [Paper]\n[Project page]\n[Video (1 min)]\n[Video (10 min)]\n[Slides] Winner of the BOP Challenge 2020 at ECCV'20 [slides] [BOP challenge paper] If you use this code in your research, please cite the paper: @inproceedings{labbe2020,\ntitle= {CosyPose: Consistent multi-view multi-object 6D pose estimation}\nauthor={Y. {Labbe} and J. {Carpentier} and M. {Aubry} and J. {Sivic}},\nbooktitle={Proceedings of the European Conference on Computer Vision (ECCV)},\nyear={2020}}","breadcrumbs":"Overview » Citation","id":"4","title":"Citation"},"5":{"body":"CosyPose is the winning method in the BOP challenge 2020 (5 awards in total, including best overall method and best RGB-only method) ! All the code and models used for the challenge are available in this repository. We participate in the BOP challenge 2020 . Results are available on the public leaderboard for 7 pose estimation benchmarks. We release 2D detection models (MaskRCNN) and 6D pose estimation models (coarse+refiner) used on each dataset. The paper is available on arXiv and full code is released. Our paper on CosyPose is accepted at ECCV 2020. This repository contains the code for the full CosyPose approach, including:","breadcrumbs":"Overview » News","id":"5","title":"News"},"6":{"body":"","breadcrumbs":"Overview » Overview","id":"6","title":"Overview"},"7":{"body":"Single view predictions Given an RGB image and a 2D bounding box of an object with known 3D model, the 6D pose estimator predicts the full 6D pose of the object with respect to the camera. Our method is inspired by DeepIM with several simplifications and technical improvements. It is fully implemented in pytorch and achieve single-view state-of-the-art on YCB-Video and T-LESS. We provide pre-trained models used in our experiments on both datasets. We make the training code that we used to train them available. It can be parallelized on multiple GPUs and multiple nodes.","breadcrumbs":"Overview » Single-view single-object 6D pose estimator","id":"7","title":"Single-view single-object 6D pose estimator"},"8":{"body":"Synthetic images The single-view 6D pose estimation models are trained on a mix of synthetic and real images. We provide the code for generating the additional synthetic images.","breadcrumbs":"Overview » Synthetic data generation","id":"8","title":"Synthetic data generation"},"9":{"body":"Multiview Single-view object-level reconstruction of a scene often fails because of detection mistakes, pose estimation errors and occlusions; which makes it impractical for real applications. Our multi-view approach, CosyPose, addresses these single-view limitations and helps improving 6D pose accuracy by leveraging information from multiple cameras with unknown positions. We provide the full code, including robust object-level multi-view matching and global scene refinement. The method is agnostic to the 6D pose estimator used, and can therefore be combined with many other existing single-view object pose estimation method to solve problems on other datasets, or in real scenarios. 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