fix(ply): Removes incorrect custom split normals from bop/replica obj…

…ects loaded from ply

blenderproc/python/loader/BopLoader.py

@@ -347,6 +347,10 @@ def load_mesh(obj_id: int, model_p: dict, bop_dataset_name: str, scale: float =
         # if the object was not previously loaded - load it, if duplication is allowed - duplicate it
         duplicated = model_path in _BopLoader.CACHED_OBJECTS
         objs = load_obj(model_path, cached_objects=_BopLoader.CACHED_OBJECTS)
+        # Bop objects comes with incorrect custom normals, so remove them
+        for obj in objs:
+            obj.clear_custom_splitnormals()
+
         assert (
             len(objs) == 1
         ), f"Loading object from '{model_path}' returned more than one mesh"

blenderproc/python/loader/ReplicaLoader.py

@@ -135,6 +135,9 @@ def load_replica(data_path: str, data_set_name: str, use_smooth_shading: bool =
     """
     file_path = os.path.join(data_path, data_set_name, 'mesh.ply')
     loaded_objects = load_obj(file_path)
+    # Replica comes with incorrect custom normals, so remove them
+    for obj in loaded_objects:
+        obj.clear_custom_splitnormals()
 
     if use_smooth_shading:
         for obj in loaded_objects:

blenderproc/python/types/MeshObjectUtility.py

@@ -575,6 +575,12 @@ def mesh_as_trimesh(self) -> Trimesh:
 
          return Trimesh(vertices=verts, faces=faces)
 
+    def clear_custom_splitnormals(self) -> None:
+        """ Removes custom split normals which might exist after importing the object from file. """
+
+        with bpy.context.temp_override(object=self.blender_obj):
+            bpy.ops.mesh.customdata_custom_splitnormals_clear()
+
 def create_from_blender_mesh(blender_mesh: bpy.types.Mesh, object_name: str = None) -> "MeshObject":
     """ Creates a new Mesh object using the given blender mesh.