Object Coordinate Rendering
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Renders synthetic RGB-D training data from BOP-format object pose datasets by projecting 3D models with ground-truth poses.

Input
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No data selection is required. Configure paths to a BOP training split and its object models on disk.

Output
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Depends on **Export location**:

* **Suite** — image sets added to the data model: rendered object coordinates, optional surface depth, and optional segmentation masks.
* **Disk** — HDF5 files written under subfolders of the BOP data directory (``rendered_object_coordinates``, ``rendered_depth``, ``rendered_mask`` per sequence).

Description
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The algorithm walks numeric sequence folders under the BOP data path, reads ``scene_gt.json`` and ``scene_camera.json`` per sequence, loads meshes from the models directory, and renders each annotated object instance with SimulatorRenderer.

Typical layout:

* **BOP data directory** — path to a split such as ``…/ycbv/train_real`` containing sequence subfolders and scene JSON files.
* **BOP models directory** — path to the corresponding ``models`` folder with one mesh file per object ID.

**Render segmentation mask** — output a binary mask image per instance.

**Render surface depth** — output a depth map per instance.

**Fix K of PBR** — apply a fixed −0.5 px principal-point offset to match the original BOP PBR renders. Use only with the official BOP dataset; leave disabled otherwise.

**Export location** — **Suite** loads results into the application (avoid for large batches). **Disk** writes HDF5 files next to the dataset for offline training pipelines.