{"id":25328428,"url":"https://github.com/zz990099/foundationpose_cpp","last_synced_at":"2025-10-29T04:32:26.651Z","repository":{"id":277119630,"uuid":"930992889","full_name":"zz990099/foundationpose_cpp","owner":"zz990099","description":"基于TensorRT和c++部署的FoundationPose算法，改写自isaac_pose_estimation，部署移植方便，去除了大量复杂依赖","archived":false,"fork":false,"pushed_at":"2025-02-12T07:56:43.000Z","size":426,"stargazers_count":2,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-02-12T08:51:09.533Z","etag":null,"topics":["6d","6dof-pose","cpp","foundationpose","pose-estimation","tensorrt"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/zz990099.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2025-02-11T14:50:59.000Z","updated_at":"2025-02-12T07:56:47.000Z","dependencies_parsed_at":"2025-02-12T08:51:11.808Z","dependency_job_id":"eeaebfa2-82a4-4576-a1a2-b0a80cd1995a","html_url":"https://github.com/zz990099/foundationpose_cpp","commit_stats":null,"previous_names":["zz990099/foundationpose_cpp"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zz990099%2Ffoundationpose_cpp","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zz990099%2Ffoundationpose_cpp/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zz990099%2Ffoundationpose_cpp/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zz990099%2Ffoundationpose_cpp/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/zz990099","download_url":"https://codeload.github.com/zz990099/foundationpose_cpp/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":238768489,"owners_count":19527208,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["6d","6dof-pose","cpp","foundationpose","pose-estimation","tensorrt"],"created_at":"2025-02-14T02:33:13.835Z","updated_at":"2025-10-29T04:32:26.646Z","avatar_url":"https://github.com/zz990099.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Foundationpose-CPP\n## About this project\n\nThis project is adapted from [nvidia-issac-pose-estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation), with simplified dependencies. It enables inference using ONNX models exported from the [Python implementation](https://github.com/NVlabs/FoundationPose) of `FoundationPose`, making deployment and application highly convenient.\n\n​***​Notes***:​​ This repository only contains the code for the `FoundationPose` component. The complete 6D pose estimation pipeline also relies on object masks, which can be generated by algorithms like `SAM`. For reference implementations and optimized inference of `MobileSAM` and `NanoSAM`, please visit [EasyDeploy](https://github.com/zz990099/EasyDeploy).\n\n## Update LOG\n\n**[2025.04]** Decoupled `Register` and `Track` processes; Output poses under mesh coordinates, providing `mesh_loader` interfaces for external extension. Related [PR](https://github.com/zz990099/foundationpose_cpp/pull/21).\n\n**[2025.03]** Aligned rendering process with the original Python implementation, supporting rendering without texture input. Related [PR](https://github.com/zz990099/foundationpose_cpp/pull/13).\n\n**[2025.03]** Added support for Jetson Orin platform with one-click Docker environment setup. See [link](docs/build_enviroment_on_jetson.md).\n\n## Features\n\n1. Removed complex environment setup and dependency issues from the original project, enabling easy integration with other projects.\n\n2. Implemented encapsulation of the `FoundationPose` algorithm, ​​supporting dynamic-sized image input​​ for flexible usage.\nProvided [tutorial scripts](docs/gen_3d_obj_with_bundlesdf.md) for generating 3D object models using BundleSDF.\n\n3. :fire: Supports Jetson Orin development boards (Orin-NX-16GB).\n\n## Demo\n\nTest results on public mustard dataset:\n\n| \u003cimg src=\"./assets/test_foundationpose_register.png\" alt=\"1\" width=\"500\"\u003e |\n|:----------------------------------------:|\n| **foundationpose(fp16) Register test result**  |\n\n| \u003cimg src=\"./assets/test_foundationpose_track.gif\" alt=\"1\" width=\"500\"\u003e |\n|:----------------------------------------:|\n| **foundationpose(fp16) Track test result**  |\n\n**Performance on `nvidia-4060-8G` and `i5-12600kf`:**\n\n|  nvidia-4060-8G   |   fps   |  cpu   |   gpu   |\n|:---------:|:---------:|:----------------:|:----------------:|\n|  foundationpose(fp16)-Register   |   2.8   |  100%   |  6.5GB   |\n|  foundationpose(fp16)-Track   |   220   |  100%   |  5.8GB   |\n\n**Performance on `jetson-orin-nx-16GB`:**\n\n|  jetson-orin-nx-16GB   |   fps   |  cpu   |   mem_total   |\n|:---------:|:---------:|:----------------:|:----------------:|\n|  foundationpose(fp16)-Register   |   0.6   |  15%   |  5.6GB(5.5GB on gpu)   |\n|  foundationpose(fp16)-Track   |   100   |  60%   |  5.1GB(5.0GB on gpu)   |\n\n## Usage\n### Environment Setup\n\n1. Clone the repository:\n    ```bash\n    git clone git@github.com:zz990099/foundationpose_cpp.git\n    cd foundationpose_cpp\n    git submodule init\n    git submodule update\n    ```\n\n2. Build using Docker:\n    ```bash\n    cd ${foundationpose_cpp}\n    bash easy_deploy_tool/docker/easy_deploy_startup.sh\n    # Select `jetson` -\u003e `trt10_u2204`/`trt8_u2204` (`trt8_u2004` not supported)\n    bash easy_deploy_tool/docker/into_docker.sh\n    ```\n\n### Model Conversion\n\n1. Download ONNX models from [google drive](https://drive.google.com/drive/folders/1AmBopDz-RrykSZVCroDH6jFc1-k8HkL0?usp=drive_link) and place them in `/workspace/models/`.\n\n2. Convert models:\n    ```bash\n    cd /workspace\n    bash tools/cvt_onnx2trt.bash\n    ```\n\n### Build Project\n\n1. Compile the project:\n```bash\n  cd /workspace\n  mkdir build \u0026\u0026 cd build\n  cmake -DENABLE_TENSORRT=ON ..\n  make -j\n```\n\n### Run Demo\n\n#### Use public Dataset Demo (mustard)\n\n1. Download and extract the dataset to `/workspace/test_data/` from [here](https://drive.google.com/drive/folders/1pRyFmxYXmAnpku7nGRioZaKrVJtIsroP).\n\n2. Run tests:\n    ```bash\n    cd /workspace/build\n    ./bin/simple_tests --gtest_filter=foundationpose_test.test\n    ```\n\n### Custom 3D Model Generation\n\n1. Refer to [Generating 3D Models with BundleSDF](./docs/gen_3d_obj_with_bundlesdf.md).\n\n2. Modify paths in `/workspace/simple_tests/src/test_foundationpose.cpp` for your data and rebuild.\n\n3. Run tests:\n    ```bash\n    cd /workspace/build\n    ./bin/simple_tests --gtest_filter=foundationpose_test.test\n    ```\n\n4. Results for Register and Track processes will be saved in `/workspace/test_data/`.\n\n## References\n\n- [nvidia-isaac-pose-estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation)\n- [FoundationPose](https://github.com/NVlabs/FoundationPose)\n- [BundleSDF](https://github.com/NVlabs/BundleSDF)\n- [XMem](https://github.com/hkchengrex/XMem)\n- [EasyDeploy](https://github.com/zz990099/EasyDeploy)\n\nFor any questions, feel free to raise a issue or contact `771647586@qq.com`.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzz990099%2Ffoundationpose_cpp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzz990099%2Ffoundationpose_cpp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzz990099%2Ffoundationpose_cpp/lists"}