├── .gitignore ├── LICENSE ├── README.md ├── data ├── RGBDScene │ ├── camera.json │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── ShapeNetScene │ ├── camera.json │ ├── train.txt │ └── val.txt └── imagenet_models │ └── .gitignore ├── experiments ├── cfgs │ ├── lov_single_color.yml │ ├── lov_single_depth.yml │ ├── rgbd_scene_multi_color.yml │ ├── rgbd_scene_multi_depth.yml │ ├── rgbd_scene_multi_normal.yml │ ├── rgbd_scene_multi_rgbd.yml │ ├── rgbd_scene_single_color.yml │ ├── rgbd_scene_single_color_fcn8.yml │ ├── rgbd_scene_single_depth.yml │ ├── rgbd_scene_single_depth_fcn8.yml │ ├── rgbd_scene_single_normal.yml │ ├── rgbd_scene_single_normal_fcn8.yml │ ├── rgbd_scene_single_rgbd.yml │ ├── shapenet_scene_multi_color.yml │ ├── shapenet_scene_multi_depth.yml │ ├── shapenet_scene_multi_normal.yml │ ├── shapenet_scene_multi_rgbd.yml │ ├── shapenet_scene_single_color.yml │ ├── shapenet_scene_single_depth.yml │ ├── shapenet_scene_single_normal.yml │ ├── shapenet_scene_single_rgbd.yml │ └── shapenet_single_single_color.yml ├── logs │ └── .gitignore └── scripts │ ├── lov_single_color.sh │ ├── lov_single_depth.sh │ ├── rgbd_scene_multi_color.sh │ ├── rgbd_scene_multi_depth.sh │ ├── rgbd_scene_multi_normal.sh │ ├── rgbd_scene_multi_rgbd.sh │ ├── rgbd_scene_multi_rgbd_reverse.sh │ ├── rgbd_scene_multi_rgbd_test.sh │ ├── rgbd_scene_single_color.sh │ ├── rgbd_scene_single_color_fcn8.sh │ ├── rgbd_scene_single_depth.sh │ ├── rgbd_scene_single_depth_fcn8.sh │ ├── rgbd_scene_single_normal.sh │ ├── rgbd_scene_single_normal_fcn8.sh │ ├── rgbd_scene_single_rgbd.sh │ ├── rgbd_scene_single_rgbd_test.sh │ ├── shapenet_scene_multi_color.sh │ ├── shapenet_scene_multi_depth.sh │ ├── shapenet_scene_multi_normal.sh │ ├── shapenet_scene_multi_rgbd.sh │ ├── shapenet_scene_multi_rgbd_test.sh │ ├── shapenet_scene_single_color.sh │ ├── shapenet_scene_single_depth.sh │ ├── shapenet_scene_single_normal.sh │ ├── shapenet_scene_single_rgbd.sh │ ├── shapenet_single_single_color.sh │ └── test_kinect_fusion.sh ├── lib ├── Makefile ├── backprojecting_layer │ ├── __init__.py │ ├── backprojecting_op.cc │ ├── backprojecting_op.py │ ├── backprojecting_op_gpu.cu.cc │ ├── backprojecting_op_gpu.h │ └── backprojecting_op_grad.py ├── computing_flow_layer │ ├── __init__.py │ ├── computing_flow_op.cc │ ├── computing_flow_op.py │ ├── computing_flow_op_gpu.cu.cc │ ├── computing_flow_op_gpu.h │ └── computing_flow_op_grad.py ├── computing_label_layer │ ├── __init__.py │ ├── computing_label_op.cc │ ├── computing_label_op.py │ ├── computing_label_op_gpu.cu.cc │ └── computing_label_op_gpu.h ├── datasets │ ├── __init__.py │ ├── factory.py │ ├── gmu_scene.py │ ├── imdb.py │ ├── lov.py │ ├── rgbd_scene.py │ ├── shapenet_scene.py │ └── shapenet_single.py ├── fcn │ ├── __init__.py │ ├── config.py │ ├── test.py │ └── train.py ├── gt_data_layer │ ├── __init__.py │ ├── layer.py │ └── minibatch.py ├── gt_single_data_layer │ ├── __init__.py │ ├── layer.py │ └── minibatch.py ├── kinect_fusion │ ├── CMakeLists.txt │ ├── __init__.py │ ├── include │ │ └── df │ │ │ ├── camera │ │ │ ├── camera.h │ │ │ ├── cameraFactory.h │ │ │ ├── cameraModel.h │ │ │ ├── linear.h │ │ │ ├── poly3.h │ │ │ └── rig.h │ │ │ ├── fusion │ │ │ └── fusion.h │ │ │ ├── image │ │ │ ├── backprojection.h │ │ │ ├── bilateralFilter.h │ │ │ ├── imagePyramid.h │ │ │ └── subsample.h │ │ │ ├── optimization │ │ │ ├── deformationGraphRegularization.h │ │ │ ├── icp.h │ │ │ ├── linearSystems.h │ │ │ └── nonrigidIcp.h │ │ │ ├── prediction │ │ │ ├── glRender.h │ │ │ ├── glRenderTypes.h │ │ │ └── raycast.h │ │ │ ├── surface │ │ │ ├── color.h │ │ │ ├── decimation.h │ │ │ ├── marchingCubes.h │ │ │ ├── marchingCubesTables.h │ │ │ └── normals.h │ │ │ ├── transform │ │ │ ├── nonrigid.h │ │ │ ├── nonrigidDeviceModule.h │ │ │ └── rigid.h │ │ │ ├── util │ │ │ ├── args.h │ │ │ ├── cudaHelpers.h │ │ │ ├── debugHelpers.h │ │ │ ├── dualQuaternion.h │ │ │ ├── eigenHelpers.h │ │ │ ├── fileHelpers.h │ │ │ ├── fpsCounter.h │ │ │ ├── glHelpers.h │ │ │ ├── globalTimer.h │ │ │ ├── macros.h │ │ │ ├── nanoflannHelpers.h │ │ │ ├── pangolinHelpers.h │ │ │ ├── sophusHelpers.h │ │ │ ├── tensor.h │ │ │ ├── tupleHelpers.h │ │ │ └── typeList.h │ │ │ └── voxel │ │ │ ├── color.h │ │ │ ├── compositeVoxel.h │ │ │ ├── movingAverage.h │ │ │ ├── probability.h │ │ │ ├── tsdf.h │ │ │ └── voxelGrid.h │ ├── kfusion.hpp │ ├── kfusion.pyx │ ├── kinect_fusion.cpp │ ├── kinect_fusion.hpp │ ├── run.sh │ ├── shaders │ │ ├── canonicalVertsAndNorms.frag │ │ ├── canonicalVertsAndNorms.vert │ │ ├── foreground.frag │ │ ├── foreground.vert │ │ ├── vertsAndNorms.frag │ │ ├── vertsAndNorms.vert │ │ ├── vertsNormsAndColor.frag │ │ └── vertsNormsAndColor.vert │ └── src │ │ ├── camera │ │ ├── camera.cpp │ │ ├── cameraFactory.cpp │ │ ├── linear.cpp │ │ ├── poly3.cpp │ │ └── rig.cpp │ │ ├── fusion │ │ └── fusion.cu │ │ ├── image │ │ ├── backprojection.cpp │ │ ├── backprojection.cu │ │ ├── bilateralFilter.cu │ │ ├── imagePyramid.cpp │ │ └── subsample.cu │ │ ├── optimization │ │ ├── deformationGraphRegularization.cpp │ │ ├── deformationGraphRegularization.cu │ │ ├── icp.cpp │ │ ├── icp.cu │ │ ├── nonrigidIcp.cpp │ │ └── nonrigidIcp.cu │ │ ├── prediction │ │ └── raycast.cu │ │ ├── surface │ │ ├── color.cu │ │ ├── decimation.cpp │ │ ├── decimation.cu │ │ ├── marchingCubes.cu │ │ ├── marchingCubesTables.cpp │ │ ├── marchingCubesTables.cu │ │ └── normals.cu │ │ ├── transform │ │ ├── nonrigid.cpp │ │ └── nonrigid.cu │ │ ├── util │ │ ├── args.cpp │ │ ├── fileHelpers.cpp │ │ └── pangolinHelpers.cpp │ │ └── voxel │ │ └── voxelGrid.cu ├── lifted_structured_loss │ ├── __init__.py │ ├── lifted_structured_loss_op.cc │ ├── lifted_structured_loss_op.py │ ├── lifted_structured_loss_op_gpu.cu.cc │ ├── lifted_structured_loss_op_gpu.h │ └── lifted_structured_loss_op_grad.py ├── make.sh ├── networks │ ├── __init__.py │ ├── add2d.py │ ├── factory.py │ ├── fcn8_vgg.py │ ├── gru2d.py │ ├── gru2d_original.py │ ├── gru3d.py │ ├── network.py │ ├── resnet50.py │ ├── vanilla2d.py │ ├── vgg16.py │ └── vgg16_convs.py ├── normals │ ├── __init__.py │ ├── compute_normals.cu │ ├── gpu_normals.hpp │ ├── gpu_normals.pyx │ └── test_normals.py ├── pose_estimation │ ├── CMakeLists.txt │ ├── __init__.py │ ├── cmake │ │ └── FindNLopt.cmake │ ├── include │ │ ├── Hypothesis.h │ │ ├── detection.h │ │ ├── properties.h │ │ ├── ransac3D.h │ │ ├── sampler2D.h │ │ ├── stop_watch.h │ │ ├── thread_rand.h │ │ ├── types.h │ │ └── util.h │ ├── ransac.hpp │ ├── ransac.pyx │ └── src │ │ ├── Hypothesis.cpp │ │ ├── properties.cpp │ │ ├── ransac3D.cpp │ │ ├── thread_rand.cpp │ │ └── util.cpp ├── projecting_layer │ ├── __init__.py │ ├── projecting_op.cc │ ├── projecting_op.py │ ├── projecting_op_gpu.cu.cc │ ├── projecting_op_gpu.h │ └── projecting_op_grad.py ├── setup.py ├── triplet_loss │ ├── __init__.py │ ├── triplet_loss_op.cc │ ├── triplet_loss_op.py │ ├── triplet_loss_op_gpu.cu.cc │ ├── triplet_loss_op_gpu.h │ └── triplet_loss_op_grad.py └── utils │ ├── __init__.py │ ├── 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