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NVlabs / FoundationPose

[CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
https://nvlabs.github.io/FoundationPose/
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Running FoundationPose on a computing board. #169

Open nirajkark07 opened 1 week ago

nirajkark07 commented 1 week ago

Hi!

A bit of a silly question. I am looking to run FoundationPose on a computing board (e.g., orin, nano, etc.). I am not sure which specifications I should be looking for when selecting an appropriate board. Ideally, I would like to run FoundationPose at a minimum of 30 fps. Do you have any reccomendations as to which board I should select to be able to run this algorithim?

Thank you!

ysdagar commented 1 week ago

I am also looking for something for something same. Any suggestion for hardware?

My default go to device would probably Jetson Orin AGX. I am also looking for a way to eliminate/reduce rasterization from the code somehow (it might sound silly though) as it is most time consuming part. Can you share any pointers please @wenbowen123 ?

wenbowen123 commented 2 days ago

@ysdagar @nirajkark07 Orin is preferred. You should be able to get ~100FPS for tracking. Also Thor board will come soon, which is even more powerful. For the ROS version of FoundationPose and deployment on those boards, you can check https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation

yashwant-ies commented 2 days ago

Thank you so much @wenbowen123 ! Will Thor board be targeted for embedded AI market and is next generation of Orin?

wenbowen123 commented 2 days ago

@yashwant-ies I'm not the best person to answer this. You can check more here. You can also create product related issues in the isaac ros repo I posted above.