diff --git a/scripts/metrics/render_bop.py b/scripts/metrics/render_bop.py
new file mode 100644
index 00000000..8c80d794
--- /dev/null
+++ b/scripts/metrics/render_bop.py
@@ -0,0 +1,371 @@
+
+import nvisii as visii 
+import argparse
+import numpy as np
+
+import simplejson as json
+import pyrender 
+import cv2 
+import numpy as np
+import os 
+import glob
+import pyrr 
+import copy 
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument(
+    '--spp', 
+    default=100,
+    type=int,
+    help = "number of sample per pixel, higher the more costly"
+)
+parser.add_argument(
+    '--opencv',
+    action='store_true',
+    default=False,
+    help = "Use the opencv coordinate frame, e.g., dope inference,\
+            otherwise it uses the opengl coordinate frame."
+)
+
+parser.add_argument(
+    '--contour',
+    action='store_true',
+    default=False,
+    help = "Only draw the contour instead of the 3d model overlay"
+)
+
+parser.add_argument(
+    '--overlay',
+    action='store_true',
+    default=False,
+    help = "add the overlay"
+)
+
+parser.add_argument(
+    '--gray',
+    action='store_true',
+    default=False,
+    help = "draw the 3d model in gray"
+)
+
+parser.add_argument(
+    '--path_json',
+    required=True,
+    help = "path to the json files you want loaded,\
+            it assumes that there is a png accompanying."
+)
+
+parser.add_argument(
+    '--objs_folder',
+    default='content/',
+    help = "object to load folder, should follow YCB structure"
+)
+
+parser.add_argument(
+    '--scale',
+    default=1,
+    type=float,
+    help='Specify the scale of the target object(s). If the obj mesh is in '
+         'meters -> scale=1; if it is in cm -> scale=0.01.'
+)
+
+parser.add_argument(
+    '--out',
+    default='overlay.png',
+    help = "output filename"
+)
+
+opt = parser.parse_args()
+
+# # # # # # # # # # # # # # # # # # # # # # # # #
+
+def create_obj(
+    name = 'name',
+    path_obj = "",
+    path_tex = None,
+    scale = 1, 
+    rot_base = None, #visii quat
+    pos_base = (-10,-10,-10), # visii vec3
+    ):
+
+    
+    # This is for YCB like dataset
+    if path_obj in create_obj.meshes:
+        obj_mesh = create_obj.meshes[path_obj]
+    else:
+        obj_mesh = visii.mesh.create_from_obj(name, path_obj)
+        create_obj.meshes[path_obj] = obj_mesh
+
+    try: 
+        visii.transform.remove(name)
+        visii.material.remove(name)
+        visii.entity.remove(name)
+    except: 
+        pass 
+    
+    obj_entity = visii.entity.create(
+        name = name,
+        # mesh = visii.mesh.create_sphere("mesh1", 1, 128, 128),
+        mesh = obj_mesh,
+        transform = visii.transform.create(name),
+        material = visii.material.create(name)
+    )
+
+    # should randomize
+    obj_entity.get_material().set_metallic(0)  # should 0 or 1      
+    obj_entity.get_material().set_transmission(0)  # should 0 or 1      
+    obj_entity.get_material().set_roughness(1) # default is 1  
+
+    if not path_tex is None:
+
+        if path_tex in create_obj.textures:
+            obj_texture = create_obj.textures[path_tex]
+        else:
+            obj_texture = visii.texture.create_from_image(name,path_tex)
+            create_obj.textures[path_tex] = obj_texture
+
+
+        obj_entity.get_material().set_base_color_texture(obj_texture)
+
+    obj_entity.get_transform().set_scale(visii.vec3(scale))
+
+    if not rot_base is None:
+        obj_entity.get_transform().set_rotation(rot_base)
+    if not pos_base is None:
+        obj_entity.get_transform().set_position(pos_base)
+    print(f' created: {obj_entity.get_name()}')
+    return obj_entity
+
+create_obj.meshes = {}
+create_obj.textures = {}
+
+# # # # # # # # # # # # # # # # # # # # # # # # #
+
+visii.initialize_headless()
+visii.enable_denoiser()
+
+camera = visii.entity.create(
+    name = "camera",
+    transform = visii.transform.create("camera"),
+    camera = visii.camera.create(
+        name = "camera", 
+    )
+)
+
+camera.get_transform().look_at(
+    visii.vec3(0,0,-1), # look at (world coordinate)
+    visii.vec3(0,1,0), # up vector
+    visii.vec3(0,0,0), # camera_origin    
+)
+
+visii.set_camera_entity(camera)
+
+visii.set_dome_light_intensity(1)
+
+try:
+    visii.set_dome_light_color(visii.vec3(1, 1, 1), 0)
+except TypeError:
+    # Support for alpha transparent backgrounds was added in nvisii ef1880aa,
+    # but as of 2022-11-03, the latest released version (1.1) does not include
+    # that change yet.
+    print("WARNING! Your version of NVISII does not support alpha transparent backgrounds yet; --contour will not work properly.")
+    visii.set_dome_light_color(visii.vec3(1, 1, 1))
+
+# # # # # # # # # # # # # # # # # # # # # # # # #
+
+# LOAD THE SCENE 
+
+objects_added = []
+dope_trans = []
+gt = None
+
+with open(opt.path_json) as f:
+    data_json = json.load(f)
+
+first_run = True 
+
+scene_gt = copy.deepcopy(data_json)
+
+for frame, scene_objs in scene_gt.items(): 
+    camera_data = {} 
+
+    with open(opt.path_json.replace("gt","camera")) as f:
+        camera_data_json = json.load(f)
+
+    camera_data['intrinsics'] = {}
+    camera_data['intrinsics']['fx'] = camera_data_json[frame]["cam_K"][0]
+    camera_data['intrinsics']['fy'] = camera_data_json[frame]["cam_K"][4]
+    camera_data['intrinsics']['cx'] = camera_data_json[frame]["cam_K"][2]
+    camera_data['intrinsics']['cy'] = camera_data_json[frame]["cam_K"][5]
+
+    # load an image for resolution 
+    zfill_num = 1 
+    while not os.path.exists(os.path.join(os.path.dirname(opt.path_json), "rgb", f"{frame.zfill(zfill_num)}.png")) and zfill_num < 10:
+        zfill_num += 1 
+
+    img_path = os.path.join(os.path.dirname(opt.path_json), "rgb", f"{frame.zfill(zfill_num)}.png")
+    print(f"Reading image from {img_path}")
+    opt.im_path = img_path
+
+    img = cv2.imread(img_path)
+    camera_data['height'] = img.shape[0]
+    camera_data['width'] = img.shape[1]
+
+    # set the camera
+    intrinsics = camera_data['intrinsics']
+    im_height = camera_data['height']
+    im_width = camera_data['width']
+
+    cam = pyrender.IntrinsicsCamera(intrinsics['fx'],intrinsics['fy'],intrinsics['cx'],intrinsics['cy'])
+
+    proj_matrix = cam.get_projection_matrix(im_width, im_height)
+
+    proj_matrix = visii.mat4(
+            proj_matrix.flatten()[0],
+            proj_matrix.flatten()[1],
+            proj_matrix.flatten()[2],
+            proj_matrix.flatten()[3],
+            proj_matrix.flatten()[4],
+            proj_matrix.flatten()[5],
+            proj_matrix.flatten()[6],
+            proj_matrix.flatten()[7],
+            proj_matrix.flatten()[8],
+            proj_matrix.flatten()[9],
+            proj_matrix.flatten()[10],
+            proj_matrix.flatten()[11],
+            proj_matrix.flatten()[12],
+            proj_matrix.flatten()[13],
+            proj_matrix.flatten()[14],
+            proj_matrix.flatten()[15],
+    )
+    proj_matrix = visii.transpose(proj_matrix)
+
+    camera.get_camera().set_projection(proj_matrix)
+
+    all_objs = [] 
+
+    # get the objects to load. 
+    for obj in scene_objs:
+        print(f"obj: {obj}")
+        to_add = {}
+        to_add['class'] = str(obj['obj_id'])
+        to_add['location'] = obj['cam_t_m2c']
+
+        # figuring out the rotation now
+        rot = obj['cam_R_m2c']
+        m = pyrr.Matrix33(
+            [
+                [rot[0],rot[1],rot[2]],
+                [rot[3],rot[4],rot[5]],
+                [rot[6],rot[7],rot[8]],              
+            ])
+        quat = m.quaternion
+        to_add['quaternion_xyzw'] = [quat.x,quat.y,quat.z,quat.w]
+        all_objs.append(to_add)
+
+
+    for i_obj, obj in enumerate(all_objs):
+        name = obj['class']
+
+        # hack because notation is old
+        if name == '003':
+            name = '003_cracker_box_16k'
+
+        print('loading',name)
+        entity_visii = create_obj(
+            name = obj['class'] + "_" + str(i_obj),
+            path_obj = f"{opt.objs_folder}/obj_{str(name).zfill(6)}.ply",
+            path_tex = None, # f"{opt.objs_folder}/obj_{str(name).zfill(6)}.png",
+            scale = .001, 
+            rot_base = None
+        )
+
+        first_run = False 
+            
+        pos = obj['location']
+        rot = obj['quaternion_xyzw']
+
+        entity_visii.get_transform().set_rotation(
+            visii.quat(
+                rot[3],
+                rot[0],
+                rot[1],
+                rot[2],
+            )
+        )
+
+        entity_visii.get_transform().set_position(
+            visii.vec3(
+                pos[0]/1000,
+                pos[1]/1000,
+                pos[2]/1000,
+            )
+        )
+
+        entity_visii.get_transform().rotate_around(visii.vec3(0,0,0),visii.angleAxis(visii.pi(), visii.vec3(1,0,0)))
+
+    # # # # # # # # # # # # # # # # # # # # # # # # #
+    output_path = os.path.join(os.path.dirname(opt.path_json), "overlay", f"{frame.zfill(6)}.png")
+
+    os.makedirs(os.path.dirname(output_path), exist_ok=True)
+
+    visii.render_to_file(
+        width=im_width, 
+        height=im_height, 
+        samples_per_pixel=400,
+        file_path=output_path
+    )
+    # raise()
+
+    # # # # # # # # # # # # # # # # # # # # # # # # #
+
+    # # create overlay
+
+    im_path = opt.im_path
+    if os.path.exists(opt.path_json.replace("json",'png')):
+        im_path = opt.path_json.replace("json",'png')
+        
+    elif os.path.exists(opt.path_json.replace("json",'jpg')):
+        im_path = opt.path_json.replace("json",'jpg')
+
+    im = cv2.imread(im_path)
+
+    if im is not None: 
+        im_pred = cv2.imread(output_path, cv2.IMREAD_UNCHANGED)
+
+        alpha = im_pred[:,:,-1]/255.0 * 0.75
+        alpha = np.stack((alpha,)*3, axis=-1)
+        im_pred = im_pred.astype(float)
+        
+        im = im.astype(float)
+
+        foreground = cv2.multiply(alpha,im_pred[:,:,:3])
+        
+
+        if opt.gray:
+            im_gray = cv2.imread(im_path)
+            im_gray = cv2.cvtColor(im_gray, cv2.COLOR_BGR2GRAY)
+            im_gray = im_gray.astype(float)
+            im_gray = np.stack((im_gray,)*3, axis=-1)
+            background = cv2.multiply(1-alpha,im_gray)
+        elif opt.overlay:
+            background = cv2.multiply(1-alpha,im[:,:,:3])
+        else:
+            background = im[:,:,:3]
+            foreground = background
+
+        outrgb = cv2.add(foreground,background)
+        
+        if opt.contour:     
+            gray = cv2.cvtColor((alpha*255).astype(np.uint8), cv2.COLOR_RGB2GRAY)
+            cnts = cv2.findContours(gray, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+            cnts = cnts[0] if len(cnts) == 2 else cnts[1]
+
+            for c in cnts:
+                cv2.drawContours(outrgb, [c], -1, (36, 255, 12), thickness=3,lineType=cv2.LINE_AA)
+        print(f'outputing {output_path}')
+        cv2.imwrite(output_path, outrgb)
+
+# let's clean up the GPU
+visii.deinitialize()