Jetpose

Implementation of the FoundationPose library for Jetson Orin NX with live inference using Realsense D435i.

On local conda environment.

Install Dependencies

Step-by-Step Instructions

Follow the commented instructions in build_all.sh step by step. Do not run the whole script at once. Instead, copy and paste each command manually for ease of debugging.

Librealsense Dependencies

1. Run librealsensesSDK_install.sh to install the necessary dependencies for librealsense.
2. To enable pyrealsense2 support, copy the required .so files to the folder where the script will run in the Jetpose directory. Example:

cp ~/librealsense_build/librealsense-master/build/release/pyrealsense2.cpython-310-aarch64-linux-gnu.so.2.55.1 ~/Jetpose/FoundationPose/pyrealsense2.so
cp ~/librealsense_build/librealsense-master/build/release/librealsense2.so.2.55.1 ~/Jetpose/FoundationPose/librealsense2.so
cp ~/librealsense_build/librealsense-master/build/release/librealsense2-gl.so.2.55.1 ~/Jetpose/FoundationPose/librealsense2-gl.so

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Run

1. Open run_live.py and set the path for the .obj file.
2. Run the script using:

python run_live.py

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Notes

• During development, I couldn't use the cuDNN backend in PyTorch. As a workaround, I disabled it using:

torch.backends.cudnn.enabled = False

This results in slow inference, approximately 1 inference per second.

• Help is needed to enable cuDNN backend for PyTorch on Jetson Orin NX.

If you find this repository helpful, please consider giving it a star.

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