ContourPose

code for paper "ContourPose：A monocular 6D pose estimation method for reflective texture-less metal parts".

Video demo

Grasp demo

Pose estimation demo

Installation

Set up the python environment:

conda create -n ContourPose python=3.7
conda activate ContourPose

install other requirements

pip install -r requirements.txt

Dataset Configuration

Prepare the dataset
- The training and testing dataset for ContourPose can be found here. Unzip all files.
- Download the SUN397
```
wget http://groups.csail.mit.edu/vision/SUN/releases/SUN2012pascalformat.tar.gz
```

Create soft link

mkdir $ROOT/data
ln -s path/to/Real Images $ROOT/data/train
ln -s path/to/Synthetic Images $ROOT/data/train/renders
ln -s path/to/Test Scenes $ROOT/data/test
ln -s path/to/SUN2012pascalformat $ROOT/data/SUN2012pascalformat

For more details on the file path, please refer to dataset/Dataset.py.

Object index mapping

Since the dataset was still under construction when the paper was completed, the actual indexing of the objects may differ from that in the paper. Please refer to the index mapping relationships below.

Indexing of objects in the paper (dataset)	obj1	obj2	obj3	obj4	obj5	obj6	obj7	obj8	obj9	obj10
Actual indexing of objects in this code	obj1	obj2	obj3	obj7	obj13	obj16	obj18	obj18	obj21	obj32

The test scenes in which the target object is tested can be found in the sceneObjs.yml file.

Pretrained model

Download the pretrained models from here and put them to $ROOT/model/obj{}/150.pkl

Training and testing

Training Take the training on obj1 as an example. run
```
python main.py --class_type obj1 --train True
```
Testing Take the testing on obj1 as an example.

The sceneObjs.yml file shows that obj1 is in scene with an index of 2. run
```
 python main.py --class_type obj1 --eval True --scene 13 --index 2
```

Grasping experiment

The graspScript folder contains scripts for deploying multiple models in parallel and implementing multi-target pose estimation, and provides code that visualizes the results.

saprrow / ContourPose