Benchmark for 6D Object Pose Estimation (BOP)

We provide example configs that interface with the BOP datasets.

• bop_challenge: Configs used to create the official synthetic data for the BOP challenge 2020
• bop_object_physics_positioning: Drop BOP objects on planes and randomize materials
• bop_object_on_surface_sampling: Sample upright poses on plane and randomize materials
• bop_scene_replication: Replicates whole scenes (object poses, camera intrinsics and extrinsics) from BOP
• bop_object_pose_sampling: Loads BOP objects and samples object, camera and light poses

Integrated Datasets Examples

We already support a lot of different datasets, check out the following examples, check out the following examples:

• blenderkit
• shapenet
• shapenet_with_scenenet
• shapenet_with_suncg
• scenenet
• scenenet_with_cctextures
• front_3d
• front_3d_with_improved_mat
• rock_essentials
• haven
• ikea
• pix3d
• AMASS_human_poses
• suncg_basic
• suncg_with_cam_sampling
• suncg_with_improved_mat
• suncg_with_object_replacer
• replica
• rock_essentials