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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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texture files（.mtl，.png）necessary for model -based FP ? #193

Closed landian233 closed 4 weeks ago

landian233 commented 1 month ago

Thanks for your excellent job! I'm trying to integrate FP with realsense camera, using model-based mode to estimate pose of some components with their .obj. Are those texture files（.mtl，.png）necessary for model -based FP ? When I'm reading the code, I didn’t find anything to invoke those files in the 'mesh' filefolder.

I kindly ask for assistance in troubleshooting this issue.THANK YOU!

wenbowen123 commented 1 month ago

if you dont have the texture files, it might still work. But having that will greatly improve the results. If your object is just pure-colored, you can add a color using this function.

landian233 commented 1 month ago

I noticed that FP project includes nerf_runner.py and run_nerf.py. may I ask What difference between those .py and your Bundlesdf project .Thank you very much for your answer！

wenbowen123 commented 1 month ago

@landian233 they are almost the same, mostly adapted to this pipeline.

landian233 commented 4 weeks ago

THANK YOU! it helps a lot