Add cpu option - Githubissues

Simple-Robotics / cosypose

Code for "CosyPose: Consistent multi-view multi-object 6D pose estimation", ECCV 2020.

MIT License

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Add cpu option #4

Closed MedericFourmy closed 1 year ago

MedericFourmy commented 1 year ago

Enable running singleview cosypose (detection + pose estimation) on CPU only machine for easy debugging. The changes consist:

Automatically decides to use the cpu in cosypose detector if no GPU present
Add an argument to BulletBatchRenderer to run batch rendering on CPU instead of GPU

Default behavior/API is not affected by current changes when running on GPU equipped machines. For now, only the singleview pipeline is affected as it is expected that training, dataset-level evluation or multiview computations to be only used on GPU.

MedericFourmy commented 1 year ago

gpu_renderer is an argument of BaseSceneRenderer https://github.com/Simple-Robotics/cosypose/blob/8e284acc39b13c7a172164ad0f482e3c1c83ca0d/cosypose/rendering/bullet_scene_renderer.py#L17 which is used by BulletBatchRenderer to render objects using bullet. I could add some docstring in bullet_batch_renderer.py, but there would be many other arguments to document.