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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 export to tensorrt #56

Open RainRoboforce opened 1 month ago

RainRoboforce commented 1 month ago

Thanks @wenbowen123 for the great work! I have tested it on my scenarios and works fantastic! Just want to ask if there are any instructions for exporting the model to tensorrt? Or any insights would be helpful!

wenbowen123 commented 1 month ago

this will soon be released in NVIDIA Isaac SDK https://developer.nvidia.com/isaac/manipulator

RainRoboforce commented 1 month ago

Thanks for the reply! I am new to pytorch. A naive question: if I want to test the model in c++ programs. Can I use torchscript to save the weights and load them in c++?

monajalal commented 1 month ago

@wenbowen123 I am also interested in learning how to run your model on Jetson. If you may be able to share instructions for running this on Jetson or converting it to trt would be great.