Feature request -- BOP Format Writer for 6D pose data

Omniverse Synthetic Data Generation (SDG)
1

Would you please be able to add a BOP format writer to the other writers you have such as DOPE writer?

BOP challenge is the de facto standard for 6D pose estimation and majority of synthetic data producers such as BlenderProc produce output data in that format or the 6D pose estimator require their input in that format.

If a BOPWriter could be added, it would be really help with advancing the field.

Here’s an example of the format:

(base) mona@ada:~/BlenderProc/examples/datasets/bop_challenge/output_dir/bop_data/lm$ ls
total 16K
drwxrwxr-x 3 mona mona 4.0K Jan 30 16:24 train_pbr
drwxrwxr-x 3 mona mona 4.0K Jan 30 16:24 ..
drwxrwxr-x 3 mona mona 4.0K Jan 30 16:24 .
-rw-rw-r-- 1 mona mona  166 Jan 30 16:35 camera.json


(base) mona@ada:~/BlenderProc/examples/datasets/bop_challenge/output_dir/bop_data/lm$ ls train_pbr/000000/
total 768K
drwxrwxr-x 3 mona mona 4.0K Jan 30 16:24 ..
drwxrwxr-x 6 mona mona 4.0K Jan 30 16:24 .
drwxrwxr-x 2 mona mona 4.0K Jan 30 16:35 rgb
drwxrwxr-x 2 mona mona 4.0K Jan 30 16:35 depth
drwxrwxr-x 2 mona mona 4.0K Jan 30 16:35 mask_visib
drwxrwxr-x 2 mona mona 4.0K Jan 30 16:35 mask
-rw-rw-r-- 1 mona mona  26K Jan 30 16:35 scene_gt.json
-rw-rw-r-- 1 mona mona  41K Jan 30 16:35 scene_camera.json
-rw-rw-r-- 1 mona mona  16K Jan 30 16:35 scene_gt_info.json
-rw-rw-r-- 1 mona mona 656K Jan 30 16:35 scene_gt_coco.json

Please let me know if you may have a question about this.

2

Hi @mona.jalal Thanks for bringing this format to our attention. I’ll submit a feature request for this.

Thanks!

1 Like
3

Hi @pcallender any update regarding this issue please? would you please give a reference of the github issue

4

Unfortunately I can’t give an update on this request at this time, but I will resurface this to see if priorities can be changed.