Render synthetic depth maps for preprocessed LineMOD and GraspNet datasets.
- Windows or Ubuntu Desktop (Offscreen rendering is waiting for update...)
- Python 3
- open3d
- numpy, h5py, opencv-python, scipy, matplotlib
Generate rendered depth maps and RGB images in batches:
# for preprocessed linemod
python scene_render.py --dataset linemod --root_path $your_path_to_original_dataset_root --output_path $your_output_dir --output_width 640 --output_height 480
# for graspnet (realsense or kinect)
python scene_render.py --dataset graspnet --camera realsense --root_path $your_path_to_original_dataset_root --output_path $your_output_dir --output_width 1280 --output_height 720