Script for rendering Refractive flow, Light Attenuation, Surface normals and Object mask for a given object cad model and 6D pose. The code was developed for rendering groundtruth dataset of transparent objects for the published work "ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning" Published at IEEE RAL November 2024.
blenderproc==2.4.1
Render Attenuation and Refractive Flow (ARF) annotation for BOP datasets. Call rendering script with:
blenderproc run annotate_ARF_bop.py --root /hdd/bop_datasets/tless --split test_primesense --meshes models_eval