siatheindochinese/raster_triangle

Repurposed for non-Linemod custom data.

Raster Triangle (for non-Linemod models)

Original renderer created by Yisheng He. Original Project Page

Datasets:

• Create your own dataset folder with 1 subfolder named models/ and insert your model file in .ply format in it. SUbsequently, create a symlink to your custom_dataset/ folder.

  ln -s path_to_custom_dataset ./custom_dataset

• Download SUN2012pascalformat dataset from here(works with FireFox or right click and open link in new tab in Chrome) or here. Unzip it and link the unzipped folder to this folder:

  ln -s path_to_SUN2012pascalformat ./

• Download the sample poses from here and move the pickle files to folder sampled_poses/.

Generate synthesis data

• Generate rendered data. Sampled poses for each object are provided in sampled_poses/, which are generated by scripts here. Run the following command to generate rendered data:

  python3 rgbd_renderer.py --help
  python3 rgbd_renderer.py --cls ape --render_num 70000

  The generated depth map is in unit meter(m). Example rendered images are as follows:

• Run the following command to generate fusing data:

  python3 fuse.py --help
  python3 fuse.py --cls ape --fuse_num 10000

  The generated depth map is in unit meter(m). Example fused images are as follows: