A Python toolkit of the BOP benchmark for 6D object pose estimation (http://bop.felk.cvut.cz).

• bop_toolkit_lib - The core Python library for i/o operations, calculation of pose errors, Python based rendering etc.
• docs - Documentation and conventions.
• scripts - Scripts for evaluation, rendering of training images, visualization of 6D object poses etc.

To install the required python libraries, run:

pip install -r requirements.txt

In the case of problems, try to first run: pip install --upgrade pip setuptools

The Python based renderer is implemented using Glumpy which depends on freetype and GLFW. Glumpy is installed using the pip command above. On Linux, freetype and GLFW can be installed by:

apt-get install freetype
apt-get install libglfw3

To install freetype and GLFW on Windows, follow these instructions.

GLFW serves as a backend of Glumpy. Another backends can be used but were not tested with our code.

To speed up rendering, we recommend installing bop_renderer, an off-screen C++ renderer with Python bindings.

See scripts/eval_calc_errors.py for an example on how to use the Python and C++ renderers - you can switch between them by setting renderer_type to 'python' or 'cpp'.