A simple Python package to visualize 6D pose for BOP benchmark
To install bop_viz_kit
, run:
git clone https://github.com/nv-nguyen/bop_viz_kit.git
pip install -e bop_viz_kit
Note that object's poses should be defined in OpenCV coordinate frame (same as BOP benchmark)
- Visualize 3D bounding box
import bop_viz_kit as bop_viz
mesh = bop_viz.load_mesh(mesh_path)
bbox = bop_viz.get_bbox_from_mesh(mesh)# computing 3D box from mesh
img = bop_viz.draw_bounding_box(
img, obj_pose, bbox, intrinsic, color, thickness=2,
)
- Visualize coordinate frame
import bop_viz_kit as bop_viz
length_coordinate_frame = 0.3 # in same scale as mesh
img = bop_viz.draw_pose_axis(
img, obj_pose, length_coordinate_frame, intrinsic, thickness=2
)
- Visualize projection of point cloud
import bop_viz_kit as bop_viz
mesh = bop_viz.load_mesh(mesh_path)
img = bop_viz.draw_point_cloud(
img, mesh, intrinsic, obj_pose, color, number_points=500,
)
- Visualize contour (by rendering cad through pyrender)
import bop_viz_kit as bop_viz
mesh = bop_viz.load_mesh(mesh_path)
depth, img = bop_viz.draw_pose_contour(
img, mesh intrinsic, obj_pose, color, thickness=5, headless=False
) # set headless=True when running on headless system
- Visualize interactively, please checkout the demo vis_interactive.py
- Blended visualization with alpha channel
- Omni3D's bounding box visualization (BOP+ScanNet)
- Simple script to render CAD with BlenderProc
- Script to generate template poses as done in template-pose
- Script to visualize camera and object interatively