Gu Wang

Thanks for the discussion. I think the description "does not need exact CAD models" might mislead some readers. As you said the shape prior from SPD was trained with farthest...

Please give more details.

Maybe your cuda driver is not the opengl cuda driver. Reinstalling the driver from https://developer.nvidia.com/opengl-driver might solve your problem. Egl renderer is needed for training with XYZ_ONLINE, where the object...

FYI: https://github.com/THU-DA-6D-Pose-Group/GDR-Net/blob/main/tools/lm/lm_pbr_1_gen_xyz_crop.py#L185

Please first make sure your environment can successfully run other egl programs such as https://github.com/vispy/vispy/blob/main/examples/offscreen/simple_egl.py , https://github.com/DLR-RM/AugmentedAutoencoder#headless-rendering , https://github.com/thodan/bop_toolkit#vispy-renderer-default .

Are you using the opengl cuda driver?

Have you correctly set up bop_renderer?

> For me, when building the bop renderer, the file bop_renderer.cpython-37m-x86_64-linux-gnu.so was located in the 'build' folder. This is the file you'll want, so I changed the bop_renderer_path in the...

cudagl dockers should work, at least on my side.

If you have CAD models, you can get `bbox_obj` and `bbox_visib` from rendered masks.