Large pose error between isaac_ros_foundationpose and NV foundationpose

[wengdunfang]

Hi , I used the demo_data of NV foundationpose to test the effect of isaac_ros_foundationpose, but the result was very poor.

Hardware: Orin AGX 64G
Soft: Ubuntu2204 Jetpack6.0
I operate in full accordance with the official isaac_ros_foundaitonpose.
The PY file I generated for ros2 topic is:
inputAll_rosDepthMaskRgbDemo.zip (1.5 KB)
My launch file is:
isaac_ros_foundationpose.launch.py.zip (1.8 KB)

NV foundationpose: pose
0.60706 -0.25581 0.752346 -0.4481580
-0.7754 -0.39773 0.490446 0.1188301
0.17376 -0.88111 -0.439814 0.801678
0 0 0 1
isaac_ros_foundationpose: pose
0.63274191 0.41554977 0.65341875 -0.43281102
-0.73410747 0.59042317 0.33539037 0.13828093
-0.24642217 -0.69189513 0.67864368 0.78675467
0 0 0 1

https://forums.developer.nvidia.com/t/isaac-ros-foundationpose-and-nv-foundaitonpose/316592

[jwd-sbb]

Using model-based approach.
Achieving improved pose from FP and a manageable angular error is anticipated, but there remains a significant centroid error.

Please validate yours as well.

#279