Main entry points

This repository is divided into different entry points

• Inference: run_cosypose_on_example.py is used to run the inference pipeline on a single example image.
• Evaluation: run_full_cosypose_evaluation.py is ued to first run inference on one or several datasets, and then use the results obtained to evaluate the method on these datasets.
• Training: run_detector_training.py is used to train the detector part of Cosypose.run_pose_training.py can be used to train the coarse model or the refiner model.

In this repository, the version provided of CosyPose is different to the one of the original repository. In particular, we switched the 3D renderer from PyBullet to Panda3d. Thus, the results obtained may differ from the one reported in the original paper and repository.