blenderproc.python.modules.writer.BopWriter module¶
-
class
blenderproc.python.modules.writer.BopWriter.BopWriter(config)[source]¶ Bases:
blenderproc.python.modules.writer.WriterInterface.WriterInterface- Saves the synthesized dataset in the BOP format. The dataset is split
- into chunks which are saved as individual “scenes”. For more details about the BOP format, visit the BOP toolkit docs: https://github.com/thodan/bop_toolkit/blob/master/docs/bop_datasets_format.md
Attributes per object:
Parameter Description Type dataset Only save annotations for objects of the specified bop dataset. Saves all object poses if not defined. Default: ‘’ string append_to_existing_output If true, the new frames will be appended to the existing ones. Default: False bool save_world2cam If true, camera to world transformations “cam_R_w2c”, “cam_t_w2c” are saved in scene_camera.json. Default: True bool ignore_dist_thres Distance between camera and object after which object is ignored. Mostly due to failed physics. Default: 100. float depth_scale Multiply the uint16 output depth image with this factor to get depth in mm. Used to trade-off between depth accuracy and maximum depth value. Default corresponds to 65.54m maximum depth and 1mm accuracy. Default: 1.0 float m2mm Original bop annotations and models are in mm. If true, we convert the gt annotations to mm here. This is needed if BopLoader option mm2m is used. Default: True bool