ARtNet - An FFB6D Version with custom dataset for iPad

This is an unofficial source code and a modified version of FFB6D: A Full Flow Biderectional Fusion Network for 6D Pose Estimation. (Arxiv, Video_Bilibili, Video_YouTube)

@InProceedings{He_2021_CVPR,
author = {He, Yisheng and Huang, Haibin and Fan, Haoqiang and Chen, Qifeng and Sun, Jian},
title = {FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2021}
}

@InProceedings{He_2020_CVPR,
author = {He, Yisheng and Sun, Wei and Huang, Haibin and Liu, Jianran and Fan, Haoqiang and Sun, Jian},
title = {PVN3D: A Deep Point-Wise 3D Keypoints Voting Network for 6DoF Pose Estimation},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2020}
}

Installation

• Install nvidia drive3r version compatible with cuda toolkit >= 10.2

• Install conda environment:

  pip install conda
  conda config --add channels conda-forge
  conda config --add channels ramonaoptics
  conda create ––name ffb6d python=3.6
  conda activate ffb6d

• Install requirements.txt and Cuda Toolkit GPU with conda & mamba:

  conda install -c menpo opencv3
  conda install mamba
  mamba install pytorch torchvision cudatoolkit=11.3 -c pytorch
  cat requirement.txt | xargs -n 1 mamba install
  pip install "pybind11[global]"

• Install apex:

  git clone https://github.com/NVIDIA/apex
  cd apex
  export TORCH_CUDA_ARCH_LIST="6.0;6.1;6.2;7.0;7.5"  # set the target architecture manually, suggested in issue https://github.com/NVIDIA/apex/issues/605#issuecomment-554453001
  pip install -v --disable-pip-version-check --no-cache-dir --global-option="--cpp_ext" --global-option="--cuda_ext" ./
  cd ..

• Install normalSpeed, a fast and light-weight normal map estimator:

  git clone https://github.com/hfutcgncas/normalSpeed.git
  cd normalSpeed/normalSpeed
  python setup.py install --user
  cd ..

• Install tkinter through sudo apt install python3-tk

• Compile RandLA-Net operators:

  cd ffb6d/models/RandLA/
  sh compile_op.sh

For more Information please see the official source code!