How to create training data?

Hi Sergey;
How do you generate a json file similar to crops.json that you have in the repository for training.
More specifically, starting from CARLA and your nocs-renderer, how to populate:
latent
intrinsics
scale
in the json file?

The nocs images generated by nocs-renderer look like grayscale images, while sdflabel takes colored nocs images, how to generate those?