Generating surflets of different objects for pose refinement app


i am trying to build a pose estimation application based on the pose refinement example.
The example from the SDK (2020-1) only handles “dolly” objects. I want to try out the small klt boxes as well.
So far, I’ve adjusted the config and subgraphs.

Now I need to provide the application with surflets of the “smallKLT” object.
The SDK only comes with the surflets of the “dolly”.

How can I generate the surflets and store them similar to the dolly cask and json?

Additionally, how would I approach the support of multiple objects for pose refinement? I assume this can be addressed with the “model_atlas”?

All the best and thx in advance for any help,