├── .gitignore ├── LICENSE.md ├── README.md ├── config ├── default.py └── linemod │ ├── copy.sh │ ├── copy_occ.sh │ ├── template_fw0.5.yml │ └── template_fw0.5_occ.yml ├── data ├── __init__.py ├── dataset.py ├── linemod │ └── linemod_config.py ├── linemod_dataset.py ├── preprocess.py ├── transforms.py └── ycb │ └── basic.py ├── demo ├── ape_short_small.gif ├── driller_short_small.gif ├── est_vis.png └── idea.png ├── doc └── prepare_data.md ├── docker ├── Dockerfile └── freeze.yml ├── geometry ├── __init__.py ├── cholesky.py ├── diff_render.py ├── diff_render_optim.py ├── einsum.py ├── intrinsics.py ├── projective_ops.py ├── se3.py └── transformation.py ├── model ├── CFNet.py ├── HybridNet.py ├── PoseRefiner.py ├── RNNPose.py ├── descriptor2D.py ├── descriptor3D.py └── losses.py ├── scripts ├── compile_3rdparty.sh ├── eval.sh ├── eval_lmocc.sh ├── run_dataformatter.sh ├── run_datainfo_generation.sh └── train.sh ├── thirdparty ├── kpconv │ ├── __init__.py │ ├── cpp_wrappers │ │ ├── compile_wrappers.sh │ │ ├── cpp_neighbors │ │ │ ├── build.bat │ │ │ ├── neighbors │ │ │ │ ├── neighbors.cpp │ │ │ │ └── neighbors.h │ │ │ ├── setup.py │ │ │ └── wrapper.cpp │ │ ├── cpp_subsampling │ │ │ ├── build.bat │ │ │ ├── grid_subsampling │ │ │ │ ├── grid_subsampling.cpp │ │ │ │ └── grid_subsampling.h │ │ │ ├── setup.py │ │ │ └── wrapper.cpp │ │ └── cpp_utils │ │ │ ├── cloud │ │ │ ├── cloud.cpp │ │ │ └── cloud.h │ │ │ └── nanoflann │ │ │ └── nanoflann.hpp │ ├── kernels │ │ ├── dispositions │ │ │ └── k_015_center_3D.ply │ │ └── kernel_points.py │ ├── kpconv_blocks.py │ └── lib │ │ ├── __init__.py │ │ ├── ply.py │ │ ├── timer.py │ │ └── utils.py ├── nn │ ├── _ext.c │ ├── nn_utils.py │ ├── setup.py │ └── src │ │ ├── ext.h │ │ └── nearest_neighborhood.cu ├── raft │ ├── corr.py │ ├── extractor.py │ ├── update.py │ └── utils │ │ ├── __init__.py │ │ ├── augmentor.py │ │ ├── flow_viz.py │ │ ├── frame_utils.py │ │ └── utils.py └── vsd │ └── inout.py ├── tools ├── eval.py ├── generate_data_info_deepim_0_orig.py ├── generate_data_info_deepim_1_syn.py ├── generate_data_info_deepim_2_posecnnval.py ├── generate_data_info_v2_deepim.py ├── train.py └── transform_data_format.py ├── torchplus ├── __init__.py ├── metrics.py ├── nn │ ├── __init__.py │ ├── functional.py │ └── modules │ │ ├── __init__.py │ │ ├── common.py │ │ └── normalization.py ├── ops │ ├── __init__.py │ └── array_ops.py ├── tools.py └── train │ ├── __init__.py │ ├── checkpoint.py │ ├── common.py │ ├── fastai_optim.py │ ├── learning_schedules.py │ ├── learning_schedules_fastai.py │ └── optim.py ├── utils ├── __init__.py ├── config_io.py ├── distributed_utils.py ├── eval_metric.py ├── furthest_point_sample.py ├── geometric.py ├── img_utils.py ├── log_tool.py ├── pose_utils.py ├── pose_utils_np.py ├── progress_bar.py ├── rand_utils.py ├── singleton.py ├── timer.py ├── util.py └── visualize.py └── weights ├── gru_update.pth ├── img_fea_enc.pth └── superpoint_v1.pth /.gitignore: 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