live-pose-ros

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

Publishes topics 1)Pose (transformation matrix) and 2)Visual output (image)

Table of Contents

• Installation
• Preparation
• Usage

Installation

1. Clone the repository:

   cd ~/catkin_ws/src
   git clone https://github.com/Kaivalya192/live-pose.git
   cd live-pose
   

Preparation

Docker Build

1. Build the Docker container:

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

2. Install Weights:

   • Download the weights from this link and place them under src/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

Configure Catkin workspace

1. Build:

   catkin build
   

Running the Node

1. Run the live pose estimation:

   source devel/setup.bash
   rosrun live-pose node.py
   

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

3. Masking:
   here select the Boundry points of object in first frame