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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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Is there a easy way to make a ycb-video format data ? #60

Closed 52THANOS closed 3 weeks ago

52THANOS commented 1 month ago

I only have a rgb camera

ysdagar commented 1 month ago

By any chance have you come across this? https://docs.omniverse.nvidia.com/isaacsim/latest/replicator_tutorials/tutorial_replicator_offline_pose_estimation.html

52THANOS commented 1 month ago

By any chance have you come across this? https://docs.omniverse.nvidia.com/isaacsim/latest/replicator_tutorials/tutorial_replicator_offline_pose_estimation.html

I have tried this method. however it can not generate all Material. Especially i have to use my own object. FDpose's data_reader has specified the data format. Or is there something i missed in isaacsim

ysdagar commented 1 month ago

Thanks for letting me know. I was planning to use it for my own project in next couple of weeks. can you please let me know what particular is missing in the data generated from this? Maybe we can collaborate on this?

wenbowen123 commented 1 month ago

For your own project, I'd recommend to closely follow our provided demo data format. It's simpler and more concise than YCB-Video.

ysdagar commented 1 month ago

Thank you @wenbowen123 so much! Is there any automated way to generate the data similar to demo data format from Isaac Sim? something similar to https://docs.omniverse.nvidia.com/isaacsim/latest/replicator_tutorials/tutorial_replicator_offline_pose_estimation.html

52THANOS commented 1 month ago

For your own project, I'd recommend to closely follow our provided demo data format. It's simpler and more concise than YCB-Video.

how do you make your own data?

wenbowen123 commented 1 month ago

Thank you @wenbowen123 so much! Is there any automated way to generate the data similar to demo data format from Isaac Sim? something similar to https://docs.omniverse.nvidia.com/isaacsim/latest/replicator_tutorials/tutorial_replicator_offline_pose_estimation.html

I dont think there is automatic way for now. But you can get all the required data from the simulator and write in the correct format.

52THANOS commented 1 month ago

Thank you @wenbowen123 so much! Is there any automated way to generate the data similar to demo data format from Isaac Sim? something similar to https://docs.omniverse.nvidia.com/isaacsim/latest/replicator_tutorials/tutorial_replicator_offline_pose_estimation.html

I dont think there is automatic way for now. But you can get all the required data from the simulator and write in the correct format

but i dont want to use simulator. how to creat data format using my own object assets? Is there a tool?

wenbowen123 commented 4 weeks ago

by simulator I mean Isaac Sim. You can use that to export. It will have everything you need, you just need to reformat a bit to be compatible with FoundationPose.