bop_scene_replication

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. Also please clone the BOP toolkit.

In examples/bop_scene_replication/config.yaml add the path to your bop_toolkit clone to sys_paths and set the blender_install_path where Blender should be installed.

Execute in the BlenderProc main directory:

python run.py examples/bop_scene_replication/config.yaml <path_to_bop_data> examples/bop_replication/output

• examples/bop_replication/config.yaml: path to the pipeline configuration file.
• <path_to_bop_data>: path to a BOP dataset
• examples/bop_sampling/output: path to the output directory.

Visualization

Visualize the generated data and labels:

python scripts/visHdf5Files.py example/bop_replication/0.hdf5

Steps

• Loads BOP scene with object models, object poses, camera poses and camera intrinsics: loader.BopLoader module.
• Creates a point light sampled inside a shell: lighting.LightSampler module.
• Renders rgb: renderer.RgbRenderer module.
• Renders instance segmentation masks: renderer.SegMapRenderer module.
• Writes labels and images to compressed hdf5 files in output_dir: writer.Hdf5Writer module.

Config file

BopLoader

    {
      "name": "loader.BopLoader",
      "config": {
        "bop_dataset_path": "<args:0>",
        "mm2m": True,
        "split": "val",
        "scene_id": 3,
        "model_type": ""
      }
    },

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_sampling: More on sampling objects, cameras and lights.