/SelfMTG6D

Primary LanguagePython

SelfMTG6D

Requirements

  • Ubuntu 16.04/18.04, CUDA 10.2, python >= 3.6, PyTorch >= 1.7.1, torchvision
  • sh scripts/install_deps.sh
  • Compile the cpp extension for farthest points sampling (fps), optical flow, chamfer distance, and egl renderer: 
    sh scripts/compile_all.sh

Datasets

Download the YCB-Video dataset from the BOP website.

The structure of datasets folder should look like below:

# recommend using soft links (ln -sf)
datasets/
├── BOP_DATASETS   # https://bop.felk.cvut.cz/datasets/
    ├──ycbv

Stage I: train the pose estimator MTGOPE using PBR synthetic data:

core/MTGOPE/train.sh <config_path> <gpu_ids> (other args)

Stage II: self-supervised training for the pose estimator:

core/SelfMTG6D/train.sh <config_path> <gpu_ids> (other args)

core/SelfMTG6D/test.sh <config_path> <gpu_ids> (other args)