YCB-Pose-Estimation

This code employs Grounded SAM and FFB6D with ICP to estimate object poses.

Installation

• FFB6D

You can follow this link(ffb6d) to install it. The pretrained weights file shoule be placed in /FFB6D/ffb6d/train_log/ycb/checkpoints.

• Grounded SAM

You can follow this link(Grounded SAM) to install it.

First, you should go into the folder(Grounded-Segment-Anything).

cd Grounded-Segment-Anything

Second, you should set the environment variable manually as follows if you want to build a local GPU environment for Grounded-SAM:

export AM_I_DOCKER=False
export BUILD_WITH_CUDA=True
export CUDA_HOME=/path/to/cuda-11.3/

Install Segment Anything:

python -m pip install -e segment_anything

Install Grounding DINO:

python -m pip install -e GroundingDINO

Third, you can download the pretrained weights from the below way or refer to these two links(GroundingDINO, SAM) to download more pre-trained models.

wget https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth
wget https://github.com/IDEA-Research/GroundingDINO/releases/download/v0.1.0-alpha/groundingdino_swint_ogc.pth

Then you should place the pretrained weights in the folder(Grounded-Segment-Anything).

Finally, you must set global file path in /FFB6D/ffb6d/common.py, /FFB6D/ffb6d/datasets/ycb/ycb_dataset.py, /FFB6D/ffb6d/utils/basic_utils.py, /FFB6D/ffb6d/utils/pvn3d_eval_utils_kpls.py, /FFB6D/ffb6d/utils/basic_utils.py.

SYSTEM_PATH=/PATH/TO/FFB6D/ffb6d
sys.path.append(SYSTEM_PATH)