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