Only pose estimation No tracking

[abhishekmonogram]

Hi @wenbowen123 , I have a couple of questions.

1. I wanted to check if I can do only pose estimation in individual rgbd frames or a sequence of discrete rgbd frames without tracking? If so then could you tell me how to go about it?

2. I have seen that sometimes tracking fails in one frame and then its very hard to recover the pose from that point on. Is it possible to have a loop where the pose estimation is run every few frames to ensure the tracker and pose estimation are outputting close values, if not then reset the pose to the pose estimation and then continue tracking from that new initialization.

[wenbowen123]

1. FoundationPose/run_demo.py

   Line 52 in 97095af

   pose = est.register(K=reader.K, rgb=color, depth=depth, ob_mask=mask, iteration=args.est_refine_iter)

   this line runs the pose estimation. In run_demo.py we only did this for the first frame, but you can do this for every frame in order to always run estimation no tracking.
2. Do you have the sample data? Curious about what makes it failed. But what you mentioned is feasible.