The first public version.

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+

LICENSE

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+MIT License
+
+Copyright (c) 2019 Tomas Hodan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# BOP Toolkit
+
+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.
+
+## Installation
+
+### Python Dependencies
+
+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```
+
+### Python Renderer
+
+The Python based renderer is implemented using
+[Glumpy](https://glumpy.github.io/) which depends on
+[freetype](https://www.freetype.org/) and [GLFW](https://www.glfw.org/).
+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](https://glumpy.readthedocs.io/en/latest/installation.html#step-by-step-install-for-x64-bit-windows-7-8-and-10).
+
+GLFW serves as a backend of Glumpy. [Another backends](https://glumpy.readthedocs.io/en/latest/api/app-backends.html)
+can be used but were not tested with our code.
+
+### C++ Renderer
+
+To speed up rendering, we recommend installing [bop_renderer](https://github.com/thodan/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'*.

bop_toolkit_lib/colors.json

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+[
+  [0.89, 0.28, 0.13],
+  [0.45, 0.38, 0.92],
+  [0.35, 0.73, 0.63],
+  [0.62, 0.28, 0.91],
+  [0.65, 0.71, 0.22],
+  [0.8, 0.29, 0.89],
+  [0.27, 0.55, 0.22],
+  [0.37, 0.46, 0.84],
+  [0.84, 0.63, 0.22],
+  [0.68, 0.29, 0.71],
+  [0.48, 0.75, 0.48],
+  [0.88, 0.27, 0.75],
+  [0.82, 0.45, 0.2],
+  [0.86, 0.27, 0.27],
+  [0.52, 0.49, 0.18],
+  [0.33, 0.67, 0.25],
+  [0.67, 0.42, 0.29],
+  [0.67, 0.46, 0.86],
+  [0.36, 0.72, 0.84],
+  [0.85, 0.29, 0.4],
+  [0.24, 0.53, 0.55],
+  [0.85, 0.55, 0.8],
+  [0.4, 0.51, 0.33],
+  [0.56, 0.38, 0.63],
+  [0.78, 0.66, 0.46],
+  [0.33, 0.5, 0.72],
+  [0.83, 0.31, 0.56],
+  [0.56, 0.61, 0.85],
+  [0.89, 0.58, 0.57],
+  [0.67, 0.4, 0.49]
+]

bop_toolkit_lib/config.py

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+# Author: Tomas Hodan ([email protected])
+# Center for Machine Perception, Czech Technical University in Prague
+
+"""Configuration of the BOP Toolkit."""
+
+
+# Folder with the BOP datasets.
+datasets_path = r'/path/to/bop/datasets'
+
+# Folder for outputs (e.g. visualizations).
+output_path = r'/path/to/output/folder'
+
+# Folder with results to be evaluated.
+results_path = r'/path/to/folder/with/results'
+
+# Folder for the calculated pose errors and performance scores.
+eval_path = r'/path/to/eval/folder'
+
+# Path to the build folder of bop_renderer (github.com/thodan/bop_renderer).
+bop_renderer_path = r'/path/to/bop_renderer/build'
+
+# Executable of the MeshLab server.
+meshlab_server_path = r'/path/to/meshlabserver.exe'