live-pose

June 28, 2025 ยท View on GitHub

Intel RealSense Depth Camera compatible Python package for live 6 DOF pose estimation.

Forked from https://github.com/Kaivalya192/live-pose

Table of Contents

Installation

  1. Clone the repository: 
    git clone https://github.com/HealorCai/live-pose.git
cd live-pose

Preparation

Docker Build

  1. Build the Docker container:

    cd docker
docker build --network host -t foundationpose .

  2. Install Weights:

    • Download the weights from this link and place them under live-pose/FoundationPose/weights.

Usage

Running the Container

  1. Run the container: 
    bash docker/run_container.sh
    note: To run on windows install Cygwin and execute ./docker/run_container_win.sh

Building packages

  1. Build: 
    CMAKE_PREFIX_PATH=$CONDA_PREFIX/lib/python3.9/site-packages/pybind11/share/cmake/pybind11 bash build.bash

Running the Model

  1. Run the live pose estimation: Clone the repo of GroundingDINO and check the TODO in FoundationPose/get_6dpose.py

     bash get_6dpose.sh

    note: To run on windows install Cygwin and execute ./get_6dpose.sh

  2. Locate the .obj file:
    Note: For novel object you can use Object Recustruction Framework