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NVIDIA-ISAAC-ROS / isaac_ros_pose_estimation

Deep learned, NVIDIA-accelerated 3D object pose estimation
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Question about deformable convolution #4

Closed Shaaa10 closed 2 years ago

Shaaa10 commented 2 years ago

Hi, First of all Thank you. I have one query. Centre pose uses Deformable convolution layer. But in the "centerpose_pytorch2onnx.py" script there is no Deformable convolution. Does the converted ONNXmodel contain Deformable convolution layer ? Thank you .

gordongrigor commented 2 years ago

Yes. The open source published version uses deformable convolutions, however this is hard to compile in Torch, and not supported at time of this Isaac ROS release in TensorRT, so we released a version replacing deformable convolutions with layers that are supported in TensorRT.