BOP class and instance segmentation maps and its 3D point clouds for object textured surface sampling, pose sampling and physics positioning and challenge 2020 data generation

[preethamam]

Hello Blenderproc Team:

I am able to generate the color and depth images, scene_camera.json, scene_gt.json and camera intrinsics using camera.json of BOP HOPE objects on textured surface sampling and object pose sampling and physics positioning programs.

I am wondering how can the class and instance segmentation maps can be generated for the same scenes using the main.py files of BOP object textured surface sampling, pose sampling, and physics positioning, and challenge 2020 data generation codes.

Lastly, after obtaining the depth maps of each color/RGB image, is there a way to generate the corresponding 3D point clouds with class and instance segmentation labels? In addition, how can I use --num_scenes=2000 option for the object textured surface sampling, and pose sampling and physics positioning class of problems? I get the below error:

usage: main.py [-h]
               [bop_parent_path] [bop_dataset_name] [cc_textures_path]
               [output_dir]
main.py: error: unrecognized arguments: --num_scenes=2000

Please note that I have installed bop_toolkit.

Thanks,