Forked Repo of SAM6D
Major changes:
- install dependencies globally for ROS2 integration
- integrated SAM2
Please clone the repository locally:
git clone https://github.com/JiehongLin/SAM-6D.git
Install the requirements and download the model checkpoints:
cd SAM-6D
pip install -r requirements.txt
sh prepare.sh
We also provide a docker image for convenience.
# set the paths
export CAD_PATH=Data/Example/obj_000005.ply # path to a given cad model(mm)
export RGB_PATH=Data/Example/rgb.png # path to a given RGB image
export DEPTH_PATH=Data/Example/depth.png # path to a given depth map(mm)
export CAMERA_PATH=Data/Example/camera.json # path to given camera intrinsics
export OUTPUT_DIR=Data/Example/outputs # path to a pre-defined file for saving results
# run inference
cd SAM-6D
sh demo.sh