ROS implementation of Foundation Pose along with Grounded SAM for first-frame mask #257
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shubho-upenn
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This is the ROS implementation of the model-based version of Foundation Pose. It takes RGB-D inputs from an intel realsense camera and uses Grounded-SAM to create the segmented mask of the first frame, which is needed for model-based tracking in Foundation Pose.
The file structure has been modified from the original Foundation Pose repo to include Grounded-SAM directory. I have also modified the docker image to install ROS alongside the original Foundation Pose docker.