This repo is mainly based off of PointOdyssey, extended to handle more data sources, incorporate aspects of Kubrics, and run in a distributed manner w/Slurm and docker/singularity containers.
Besides ease-of-use, this repo extracts pointwise trajectories for each point in each scene. That is, given a pixel in any frame, we record the position of that same point in all past and future frames. This is generally computed per-mesh, and for efficiency reasons, we generally only record the pose of the entire mesh and then re-trace the point trajectory after rendering.
This data is useful for models that need to handle dynamic—for reconstruction, pose estimation, point tracking, etc.
WIP. TODO: Link to re-run visualizations
Two-frame visualization: 
Visualization of GT + Model prediction: 