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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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How to build a new obj to test? #243

Closed wengdunfang closed 1 day ago

wengdunfang commented 1 week ago

Hello, I have an obj file that I drew using SolidWorks (which is a new bottle). In actual scenarios, I used an RGBD camera to capture its RGB images and Depth. At the same time, I generated obj.mtl and corresponding png images using meshlab software. I used the run_demo. py code, but I found that the 3D box detected in the output is completely incorrect, larger than the entire image. May I ask how to build a new obj file? Does this process require fine-tuning of the model?

savidini commented 3 days ago

@wengdunfang make sure that your 3D model is scaled in meters. It is probably scaled in millimeters, resulting in the very large detected box. See https://github.com/NVlabs/FoundationPose/issues/44#issuecomment-2048141043 for examples and other possible errors and https://github.com/NVlabs/FoundationPose/issues/44#issuecomment-2049337921 for scaling.