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@@ -1,5 +1,7 @@
 # SyntheticVideoGeneration
-This project has been inspired by the synthetic frame generation process provided by the [iros20-6d-pose-tracking](https://github.com/wenbowen123/iros20-6d-pose-tracking) project. This repository allows you to generate synthetic videos from your CAD models. The models are dynamically loaded into a Blender scene, and through a keyframe generation process, the camera moves along spherical points smoothly to create the final video. The whole project is designed to work with YCB-Video datasets like. The project has been tested on both Linux (Ubuntu 22.04) and Windows.
+This project has been inspired by the synthetic frame generation process provided by the [iros20-6d-pose-tracking](https://github.com/wenbowen123/iros20-6d-pose-tracking) project. This repository allows you to generate synthetic videos from your CAD models. For each frame in each video sequence, will be generated also a `meta.npy` containing additional informations, such as ground-truth 6DoF of each object in the frame, bounding boxes of those objects and much other information specified in the dedicated section. file The models are dynamically loaded into a Blender scene, and through a keyframe generation process, the camera moves along spherical points smoothly to create the final video. The whole project is designed to work with YCB-Video datasets like, follow the installation steps below to use it. 
+
+The project has been tested on both Linux (Ubuntu 22.04) and Windows.
 
 ## Installation
 We recomend the use of Anaconda (or Miniconda) to run the project since we used Python 3.10.
@@ -63,17 +65,17 @@ This script will generate a new directory `Data/Datasets/MyDataset/GeneratedScen
  - `xxxx-color.png`: RBG Frame.
  - `xxxx-depth.png`: Depth map of the frame.
  - `xxxx-seg.png`: Segmentation map with the all you models segmented.
- - `xxxx-poses_in_world.npy`: Numpy file containing:
-    1. `class_ids`: IDs of the objects in the scene (the models are picked randomly), the IDs are those specified in the `models_id.yml` file.
-    2. `poses_in_world`: 4x4 matrix specifying the 6D pose of the objects ($i$-th matrix corresponds to the 6Dposes of the $i$-th model in `class_ids`).
-    3. `blendercam_in_world`: 4x4 matrix specifying the 6D pose of the camera.
-    4. `K`: Matrix specifying the camera intrinsic parameters.
+ - `xxxx-meta.npy`: Numpy file containing:
+    1. `cls_indexes`: IDs of the objects in the scene (the models are picked randomly), the IDs are those specified in the `models_id.yml` file.
+    2. `poses`: 4x4 matrix specifying the 6DoF pose of the objects ($i$-th matrix corresponds to the 6Dposes of the $i$-th model in `class_ids`).
+    3. `blendercam_in_world`: 4x4 matrix specifying the 6DoF pose of the camera.
+    4. `intrinsic_matrix`: Matrix specifying the camera intrinsic parameters.
 
 ### 2. Generate bounding boxes (Optional)
 ```
 python Code/SceneGeneration/generate_bboxes.py
 ```
-This script will loop over the generated sequences to generat an addition file per frame called `xxxx-box.txt`. Using the information provieded by the `.npy` files, the ground-truth boxes are computed for each object. The boxes are represented using the upper-right and lower-left corners.
+This script will loop over the generated sequences to generat an addition file per frame called `xxxx-box.txt`. Using the information provieded by the `.npy` files, the ground-truth boxes are computed for each object. The boxes are represented using the upper-right and lower-left corners. The script will also modify the `xxxx-meta.npy` files such that for all those objects that are not inside the frame, their information are removed from the dictionary.
 
 ### 3. Convert bounding boxes in a YOLO format (Optional)
 ```
@@ -97,4 +99,4 @@ This script is used for generating YCB-like additional files. For each model the
 We are aware that this Blender version is quite outdated; however, most projects involving synthetic data generation still use this version. As far as we know, starting from Blender 2.80, Python scripting APIs are completely changed, making them more complicated, even for simpler tasks such as the one performed by this project.
 
 ### Why should I download Blender using your script?
-The Blender version we have provided in the installation script is read-to-go for the project. If you legitimatelly don't trust our files, you can freely download Blender-2.79b from the [official website](https://download.blender.org/release/Blender2.79/) and install the pip packages needed to run the project.
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+The Blender version we have provided in the installation script is read-to-go for the project. If you legitimatelly don't trust our files, you can freely download Blender-2.79b from the [official website](https://download.blender.org/release/Blender2.79/) and install the pip packages needed to run the project.