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.

Update: We have an internal draft of a working BOP writer. It should be coming in the next release or two of Replicator

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

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.

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

pcallender February 20, 2024, 3:28pm 2

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

Thanks!

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