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