Awesome

Undergraduate thesis project.

Setup

Please start by installing mamba, Miniconda3 or conda with Python3.9 or above.

either run <mamba/conda> install -f environment.yml or install dependencies manually:

<details > <summary> Manual dependency installation </summary> Instal the following dependencies (Conda/Mamba or pip):

At the time of writing, pip only.

Pyrealsense (If using realsense camera for RGBD)
- pip install pyrealsense2==2.50.0.3812
pip install open3d

</details> <br>

mkdir checkpoints; cd checkpoints

Pose estimation weights \

wget --no-check-certificate 'https://docs.google.com/uc?export=download&id=1aXkYOpvka5VAPYUYuHaCMp0nIvzxhW9X' -O OVE6D_pose_model.pth
or
wget https://drive.proton.me/urls/2GQBGB2DH4#aLLLp43rOm8M -O OVE6D_pose_model.pth

Provide 3D model of the query object in *.ply format in Dataspace/<dataset_name>/models_eval/
- Dataset name defined in configs/config.py as DATASET_NAME.
- Provide name and diameter of 3D model in Dataspace/<dataset_name>/models_eval/models_info.json.
- Adjust MODEL_SCALING in config.py to whatever scale (meters/mm) you're using for the 3D models.
Attach a realsense camera or implement a camera module for camera of choice as in cam_control.py at utils/cam_control.py
Setup a greenscreen and adjust the chroma keying parameters in the pop up window at runtime.
- Alternatively use a segmentator of choice that provides a binary mask as in utility\load_segmentation_model_chroma.py.