---

name: foundationpose-pipeline description: Adapt BOP datasets, run the FoundationPose perception pipeline with TAO depth, and evaluate or re-score pose results. Use for dataset runs and result comparisons; environment installation belongs to foundationpose-setup. license: Apache-2.0 metadata: author: "zwdoescode zhengwang@nvidia.com" version: "0.1.0"

Run and evaluate the FoundationPose perception pipeline

Purpose

Run depth, SAM3 segmentation, and FoundationPose on BOP-format datasets using the TAO Deploy TensorRT depth engine. Adapt datasets, preserve run provenance, and interpret pose metrics. For missing dependencies or engine construction, use foundationpose-setup if installed, or the product checkout's README Install and Verify sections.

Requirements

Locate the user's product checkout by pyproject.toml (project foundationpose-perception-pipeline), script/run_pipeline.py, and config/defaults.yaml. Run commands from that root, not from this installed skill's directory. A catalog install supplies instructions, not the product code, datasets, or weights. If execution was requested and no checkout exists, obtain it from the URL above and complete setup first. For advice or analysis of supplied artifacts, use those inputs without cloning or loading models.

Execution requires the product's Python 3.12 venv, authorized SAM3 checkpoint access, the built FoundationPose library, an adapted dataset, a matching TAO engine with its sidecar, and sufficient GPU memory. Read the checkout's README Configuration and Dataset adaptation sections for profile paths; read ARCHITECTURE.md Outputs for the matching artifact schema.

Set absolute paths before GPU work:

export FOUNDATIONPOSE_ROOT="$(realpath ../foundation-pose-inference-library)"
PIPELINE_SITE="$(realpath .venv/lib/python3.12/site-packages)"
export LD_LIBRARY_PATH="${PIPELINE_SITE}/tensorrt_libs:${PIPELINE_SITE}/nvidia/cu13/lib:${LD_LIBRARY_PATH:-}"
./.venv/bin/python -c "import ctypes; ctypes.CDLL('libcudart.so.13'); print('ok')"

Do not mix libraries from another venv into this path. Skipping the check can cause pose to fail after depth has already completed.

Instructions

1. Resolve the task and inputs

Identify the profile, dataset name, source or adapted scene paths, engine, ground-truth availability, and output directory. <profile> and <dataset> may differ. --config selects a profile; it does not replace a required --dataset. Same-named profiles can be inferred by commands that take --dataset.

| Request | Entry point | |---|---| | Convert a supported BOP dataset | tools/bop_adapt/adapt.py | | Inference without pose ground truth | script/infer.py | | Inference plus scoring | script/run_pipeline.py | | Score a completed run with new scoring parameters | script/evaluate.py | | Sweep several datasets | script/run_batch_eval.py |

A capture without scene_gt.json can use inference only. --no-depth-metrics skips collected sensor-depth scoring; it does not remove the pose-ground-truth requirement for evaluation.

2. Adapt before building or checking an engine

Skip adaptation only for the pipeline's rig layout: <split>/<scene>/rgb/<im_id>.png, one scene_camera.json per scene, and im_ids representing rig cameras (base camera 0 in the shipped profiles).

./.venv/bin/python tools/bop_adapt/adapt.py --config <profile> --src <downloaded-dataset>

The profile's dataset.name selects a registered adapter; --help exposes its flags. An unknown adapter is not supported automatically. On static-scene datasets the adapter emits one scene per usable (source scene, base frame) pair and reports skipped frames with no rectifiable partner. Changing the baseline band changes the adapted data: rebuild GT caches and regenerate depth.

Engine building uses tools/build_tao_engine.py --shape-from-scene <adapted-scene>; see the checkout's README Install section if the setup skill is unavailable. A raw BOP directory or raw image dimensions do not establish the required rectified engine shape.

3. Validate inputs and prepare GT caches

./.venv/bin/python test/check_engine_depth_smoke.py \
  --config <profile> --dataset <dataset> --engine <engine-path>

Expect backend=tao, normalization=imagenet, a fixed shape, a plausible valid fraction, and no cropping N rows warning. A stale sidecar, changed GPU/TensorRT/precision, changed max-width, or cropping requires rebuilding the engine and regenerating depth. Do not bypass these checks.

For scoring runs with pose GT, precompute the cache:

./.venv/bin/python script/build_gt_cache.py --config <profile> --dataset <dataset>

Use --config <profile> --all for all matching datasets. Missing collected depth calls for --no-depth-metrics; missing scene_gt.json calls for inference only. Check the resolved dataset.collected_depth_root using the actual path, not a shell command substitution.

4. Run only the work needed

For a new end-to-end run:

./.venv/bin/python script/run_pipeline.py --config <profile> --dataset <dataset> \
  --output-dir output/<new-run> --foundation-stereo-model <engine-path> \
  --depth-backend commercial --no-depth-metrics

Omit --no-depth-metrics when collected sensor depth is available and should be scored. Start with --max-scenes 1 for a time/fit check before sizing a larger run. For a capture with no pose ground truth:

./.venv/bin/python script/infer.py --config <profile> --dataset <dataset> \
  --output-dir output/<new-run> --foundation-stereo-model <engine-path> \
  --depth-backend commercial

The model path selects the backend. --depth-backend commercial asserts that selection; it neither downloads a model nor establishes rights to the weights. Set the engine once in the profile's overrides.depth.engine to avoid repeating the model-path flag.

Preserve existing results when comparing runs. Reuse cached depth only after checking its metadata. --overwrite-results reruns segmentation and pose; --overwrite-depth additionally regenerates depth. Regenerate depth after changes to the engine, rectified width, CLAHE, working-distance bounds, or adapted data. Resume a pose-only failure without overwriting valid depth. Working-distance bounds must be supplied together.

Do not repeat tuned defaults from config/defaults.yaml on every command; use profile overrides for deliberate dataset-specific changes. Rebuild the engine if foundation_stereo_max_width changes.

5. Re-score without repeating inference

For a rerank cutoff, IoU threshold, or visibility-band change, keep the completed predictions, mask sidecars, and depth files and run:

./.venv/bin/python script/evaluate.py --config <profile> --dataset <dataset> \
  --run output/<completed-run> --output-dir output/<new-score-run> \
  --rerank-cutoff 4.5 --no-depth-metrics

Omit --no-depth-metrics when depth comparison is desired. A separate --output-dir preserves the old report. No inference model is loaded; a GT cache miss can still require rasterization. For an offline cutoff sweep, tools/sweep_rerank_cutoff.py --config <profile> --results-root output --datasets <dataset> expects one dataset subdirectory under the results root.

6. Verify provenance and interpret results

Inspect inference_config.json for the engine and max-width, and each scene's depth/<scene>/metadata.json for backend: tao, normalization: imagenet, and model_fixed_hw. Inspect both before trusting cached depth. These establish execution provenance, not legal approval.

Read report.md, pose_summary.json (overall, by_visibility, by_object), and depth_summary.json when depth was scored. Compare:

• matched_predictions first: a change in matched population can bias apparent accuracy gains.
• max_vertex_error_within_threshold_rate against the configured threshold and required rate.
• Median, p90, and p99 vertex error, ADD/ADD-S, and rotation error, including per-object results.
• Depth error on object pixels; whole-image error can be dominated by the table or background.

A higher success rate can coexist with a worse mean or tail. Report both, along with population changes. Preserve a baseline before overwriting results; use separate run directories when retaining predictions and provenance matters.

7. Batch runs

./.venv/bin/python script/run_batch_eval.py --config <profile> --output-root output/<batch-run> \
  --foundation-stereo-model <engine-path> --depth-backend commercial --no-depth-metrics

The no-depth flag also removes collected-depth filtering from batch dataset discovery. Add --continue-on-error only when failed datasets should not stop the sweep. Run GPU datasets sequentially; inspect run_status.jsonl before interpreting aggregate summary.json or report.md.

Examples

• "Adapt T-LESS and run one scene with the TAO depth engine."
• "Re-score this finished FoundationPose run at cutoff 4.5 and preserve the old report."
• "Compare these pose summaries; did the 5 mm success rate improve at the same coverage?"

Troubleshooting and limitations

A smoke check demonstrates backend operation, not pose accuracy. Accuracy requires a real representative dataset and a retained baseline. Never report an unavailable metric as zero. invalid resource handle points to pycuda context boundaries around TAO calls. Plausible depth at roughly twice the expected scale calls for checking input normalization and calibration. Report the command, dataset/profile, output paths, model provenance, completion status, headline metrics with matched counts, and any unverified steps.