sThalham / RetNetPose

SyDPose

SyDPose: Object Detection and Pose Estimation in Cluttered Real-World Depth Images Trained using only Synthetic Data by Stefan Thalhammer, Timothy Patten, and Markus Vincze.

Installation

1. Clone this repository.
2. No installation necessary.
3. Dependencies have to be installed manually.

Training

RetNetPose/bin/train.py "dataset" /path/to/dataset-train

Testing

RetNetPose/bin/evaluate.py "dataset" /path/to/dataset-val /path/to/training/model.h5 --convert-model

Utility scripts are provided for datasets LineMOD, Occlusion and Tless. No trained models are provided.

Notes

• This repository requires Keras 2.2.4 or higher.