bop_ycb_renderer

installation

git clone https://github.com/limhoyeon/bop_ycb_renderer.git
cd bop_ycb_renderer/ycb_render

git clone https://github.com/pybind/pybind11.git
cd pybind11
git checkout f7bc18f
cd ..

sudo apt-get install libassimp-dev
pip install -r requirement.txt
export LD_LIBRARY_PATH=/usr/lib/nvidia-<vvv>:$LD_LIBRARY_PATH
python setup.py develop

how to start

In example.py, change obj_parent_path and sample_data_sequence_parent_path

...
...
if __name__ == "__main__":
    
    obj_parent_path = "/home/hoyeon/6dpose/bop_data_loader/bop_ycb_renderer/sample_data/models_fine" # path to sample object
    
    obj_paths = glob(obj_parent_path+"/*.ply")
    texture_paths = [x.replace(".ply", ".png") for x in obj_paths]
    obj_paths, texture_paths = sorted(obj_paths), sorted(texture_paths)

    sample_data_sequence_parent_path = "/home/hoyeon/6dpose/bop_data_loader/bop_ycb_renderer/sample_data/train_real" # path to sample data 
    # sequence means one video(img sequence).
    sequnece_path_ls = glob(sample_data_sequence_parent_path + "/*")
    sequence_info_map = {}
    for i in range(len(sequnece_path_ls)):
        sequence_info_map.update(yu.get_sequence_info_map(sequnece_path_ls[i], "test_" + os.path.basename(sequnece_path_ls[i])))
...
...

and run

python example.py

reference

1. ycb_renderer - https://github.com/NVlabs/PoseRBPF/blob/master/ycb_render/README.md
2. bop_toolkit - https://github.com/thodan/bop_toolkit