How to feed the BlenderProc produced synthetic data to Clean-PVnet for training?

[monajalal]

I have created a custom synthetic dataset using BlenderProc of my own custom 3D model that follows Linemod format.

(blenderproc) mona@ada:~/BlenderProc/examples/datasets/bop_challenge/output_data/bop_data/lm/train_pbr/000000$ ls
total 2.4M
drwxrwxr-x 3 mona mona 4.0K Jan  9 13:13 ..
drwxrwxr-x 6 mona mona 4.0K Jan  9 13:14 .
drwxrwxr-x 2 mona mona  12K Jan  9 13:29 rgb
drwxrwxr-x 2 mona mona  12K Jan  9 13:29 depth
drwxrwxr-x 2 mona mona  12K Jan  9 13:29 mask
drwxrwxr-x 2 mona mona  12K Jan  9 13:29 mask_visib
-rw-rw-r-- 1 mona mona  80K Jan  9 13:29 scene_gt.json
-rw-rw-r-- 1 mona mona 111K Jan  9 13:29 scene_camera.json
-rw-rw-r-- 1 mona mona  51K Jan  9 13:29 scene_gt_info.json
-rw-rw-r-- 1 mona mona 2.1M Jan  9 13:29 scene_gt_coco.json

However, in your custom data section, you are looking for a different format. Could you please how to use the blenderproc format of custom data for training of clean-pvnet?

├── /path/to/dataset
│   ├── model.ply
│   ├── camera.txt
│   ├── diameter.txt  // the object diameter, whose unit is meter
│   ├── rgb/
│   │   ├── 0.jpg
│   │   ├── ...
│   │   ├── 1234.jpg
│   │   ├── ...
│   ├── mask/
│   │   ├── 0.png
│   │   ├── ...
│   │   ├── 1234.png
│   │   ├── ...
│   ├── pose/
│   │   ├── pose0.npy
│   │   ├── ...
│   │   ├── pose1234.npy
│   │   ├── ...
│   │   └──