Help with making dataset BOP compatible

[carynbear]

Hello! I would like to get my dataset into BOP format, but I wanted to ask how to handle the following situations in my data:

1. I have multiple datasets [each with a different set of objects, arranged differently]
2. Each dataset is captured with multiple cameras [4 different ones]
   1. 3 cameras capture images with multiple exposures
   2. 1 camera has depth
3. We capture 30 scenes for 3 different lighting settings (so scene 1-30 is room light, 31-60 is day light, 61-90 is spot light)
   1. Each scene corresponds to a robot pose (how do I save that information, where?)
4. Can have an object multiple times in one scene (how do I save the model and gt annotation?)

Do you have any advice on formatting this data so that the dataset can still use the BOP toolkit?