How did you convert the original LINEMOD dataset to the format that has posexyz.npy files?

[monajalal]

I am struggling to find any sort of documentation that shows how you have converted the original LINEMOD which looks like below:

(clean-pvnet) mona@ada:/data2/data/BOP/lm/train_pbr/000000$ ls
total 8.0M
drwxrwxrwx 52 mona mona 4.0K Jun  1  2020 ..
drwxrwxrwx  6 mona mona 4.0K Oct 11 13:37 .
drwxrwxrwx  2 mona mona  36K Oct 11 13:37 rgb
drwxrwxrwx  2 mona mona  36K Oct 11 13:37 depth
drwxrwxrwx  2 mona mona 552K Oct 11 13:37 mask_visib
drwxrwxrwx  2 mona mona 552K Oct 11 13:37 mask
-rwxrwxrwx  1 mona mona 4.2M Jun  5  2020 scene_gt.json
-rwxrwxrwx  1 mona mona 124K Jun  5  2020 scene_camera.json
-rwxrwxrwx  1 mona mona 2.5M Jun  5  2020 scene_gt_info.json

To a format that has pose files such as below.

(base) mona@DOS:~/Downloads/LINEMOD/cat/pose$ ls | head -5
total 4.7M
drwxrwxr-x  2 mona mona  36K Sep 22  2019 .
-rw-rw-r--  1 mona mona  176 Sep 22  2019 pose9.npy
-rw-rw-r--  1 mona mona  176 Sep 22  2019 pose99.npy
-rw-rw-r--  1 mona mona  176 Sep 22  2019 pose98.npy

Could you please share some thoughts here @pengsida ?