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ObjsDepthRender

Render synthetic depth maps for preprocessed LineMOD and GraspNet datasets.

<img src="objsdepthrender.png" width="800px"/>

Prerequisites

Requirements

Usage

Generate rendered depth maps and RGB images in batches:

# for preprocessed linemod
python scene_render.py --dataset linemod --root_path $your_path_to_original_dataset_root --output_path $your_output_dir --output_width 640 --output_height 480

# for graspnet (realsense or kinect)
python scene_render.py --dataset graspnet --camera realsense --root_path $your_path_to_original_dataset_root --output_path $your_output_dir --output_width 1280 --output_height 720