README.md

Benchmark for 6D Object Pose Estimation (BOP)
Scene Replication

This example shows how to synthetically recreate BOP scenes.

Usage

First make sure that you have downloaded a BOP dataset in the original folder structure.

In examples/datasets/bop_scene_replication/main.py set the blender_install_path where Blender is or should be installed.

Execute in the BlenderProc main directory:

blenderproc run examples/datasets/bop_scene_replication/main.py <path_to_bop_data> <bop_dataset_name> examples/datasets/bop_scene_replication/output

• examples/datasets/bop_scene_replication/main.py: path to the python file with pipeline configuration.
• <path_to_bop_data>: path to a folder containing BOP datasets.
• <bop_dataset_name>: name of BOP dataset, e.g. tless
• examples/datasets/bop_scene_replication/output: path to the output directory.

Visualization

Visualize the generated data and labels:

blenderproc vis hdf5 example/bop_scene_replication/0.hdf5

Steps

• Loads BOP scene with object models, object poses, camera poses and camera intrinsics: bproc.loader.load_bop_scene().
• Creates a point light sampled inside a shell.
• Renders rgb: bproc.renderer().
• Renders instance segmentation masks: bproc.renderer().
• Writes pose labels in BOP format to output_dir: bproc.writer.write_bop().

Python file (main.py)

BopLoader

bop_objs = bproc.loader.load_bop_scene(bop_dataset_path = os.path.join(args.bop_parent_path, args.bop_dataset_name),
                          mm2m = True,
                          scene_id = 1,
                          split = 'test') # careful, some BOP datasets only have labeled 'val' sets

If scene_id is specified, BopLoader recreates the specified scene of the BOP dataset specified by bop_dataset_path. All camera poses and intrinsics from the specified scene are also loaded.
Be careful to choose a split that is actually present in the given BOP dataset and that has ground truth.
For some BOP datasets you can choose the model_type, e.g. reconst or cad in T-LESS.

More examples

• bop_object_pose_sampling: More on sampling objects, cameras and lights.
• bop_object_physics_positioning: Drop BOP objects on planes and randomize materials