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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 can I obtain an initial mask? #88

Closed cfcy-zch closed 3 weeks ago

cfcy-zch commented 3 weeks ago

I'm a beginner. I have a physical YCB model, and I can obtain depth and RGB data through an RGBD camera. However, I don't know how to obtain the initial mask. Are there any relevant functions in the program that can calculate the initial mask?

wenbowen123 commented 3 weeks ago

Hi, you can use SAM/CNOS/Mask-RCNN to get segmentation mask directly. Or you can use a bounding box as mentioned in https://github.com/NVlabs/FoundationPose/issues/51

cfcy-zch commented 3 weeks ago

Hi, you can use SAM/CNOS/Mask-RCNN to get segmentation mask directly. Or you can use a bounding box as mentioned in #51

Thank you, I will try it