NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation
centerpose_converter.py is missing for converting pth to onnx inside ros2 docker
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Description
Similiar to dope_converter.py, could you please share the script for centerpose_converter.py for converting the pth model trained using TAO toolkit to ONNX model inside the ros2 docker?
From isaac_ros_dope tutorial:
ros2 run isaac_ros_dope dope_converter.py --format onnx \ --input ${ISAAC_ROS_WS}/isaac_ros_assets/models/dope/Ketchup.pth --output ${ISAAC_ROS_WS}/isaac_ros_assets/models/dope/Ketchup.onnx --row 720 --col 1280
Currently the tutorial for isaac_ros_centerpose directly downloads the onnx from ngc website. I need to be able to reproduce the results for my custom object class.
Probably same or slight modification of https://github.com/NVIDIA/tao_pytorch_backend/blob/main/nvidia_tao_pytorch/cv/centerpose/scripts/export.py
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Research direction
Start by comparing the existing dope_converter.py entry point with NVIDIA's TAO export.py linked in the issue, then review the isaac_ros_centerpose tutorial and its ROS 2 Docker context. Done means a centerpose_converter.py workflow can convert a TAO-trained .pth model to ONNX inside the container for a custom object class.
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Assessment
- Tech stack
- docker, python
- Domain
- devops, machine-learning, robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100