Train CosyPose

Disclaimer : This part of the repository is still under development.

Training the detector part of the pose estimation part are independant.

Training Pose Estimator

This script can be used to train both the coarse model or the refiner model.

python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_pose_training --config ycbv-refiner-syntonly

Training Detector

python -m happypose.pose_estimators.cosypose.cosypose.scripts.run_detector_training --config bop-ycbv-synt+real

All the models were trained on 32 GPUs.