├── .gitignore ├── LICENSE ├── README.md ├── create_histos.py ├── data ├── LINEMOD │ ├── extents.txt │ ├── models.txt │ └── poses.txt ├── LOV │ ├── camera.json │ ├── classes.txt │ ├── classes_original.txt │ ├── debug.txt │ ├── draw_confusion_table.m │ ├── draw_ctable.m │ ├── extents.txt │ ├── keyframe.txt │ ├── models.txt │ ├── models │ │ ├── 002_master_chef_can │ │ │ └── points.xyz │ │ ├── 003_cracker_box │ │ │ └── points.xyz │ │ ├── 004_sugar_box │ │ │ └── points.xyz │ │ ├── 005_tomato_soup_can │ │ │ └── points.xyz │ │ ├── 006_mustard_bottle │ │ │ └── points.xyz │ │ ├── 007_tuna_fish_can │ │ │ └── points.xyz │ │ ├── 008_pudding_box │ │ │ └── points.xyz │ │ ├── 009_gelatin_box │ │ │ └── points.xyz │ │ ├── 010_potted_meat_can │ │ │ └── points.xyz │ │ ├── 011_banana │ │ │ └── points.xyz │ │ ├── 019_pitcher_base │ │ │ └── points.xyz │ │ ├── 021_bleach_cleanser │ │ │ └── points.xyz │ │ ├── 024_bowl │ │ │ └── points.xyz │ │ ├── 025_mug │ │ │ └── points.xyz │ │ ├── 035_power_drill │ │ │ └── points.xyz │ │ ├── 036_wood_block │ │ │ └── points.xyz │ │ ├── 037_scissors │ │ │ └── points.xyz │ │ ├── 040_large_marker │ │ │ └── points.xyz │ │ ├── 051_large_clamp │ │ │ └── points.xyz │ │ ├── 052_extra_large_clamp │ │ │ └── points.xyz │ │ └── 061_foam_brick │ │ │ └── points.xyz │ ├── models_debug.txt │ ├── poses.txt │ ├── train.txt │ ├── train_few.txt │ ├── train_few_original.txt │ ├── train_original.txt │ ├── trainval_original.txt │ ├── val.txt │ └── val_few.txt ├── RGBDScene │ ├── camera.json │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── YCB │ ├── extents.txt │ └── trainval.txt ├── demo_images │ ├── 000001-color.png │ ├── 000001-depth.png │ ├── 000002-color.png │ ├── 000002-depth.png │ ├── 000003-color.png │ ├── 000003-depth.png │ ├── 000004-color.png │ ├── 000004-depth.png │ ├── 000005-color.png │ └── 000005-depth.png ├── demo_models │ └── .gitignore └── imagenet_models │ └── .gitignore ├── experiments ├── cfgs │ ├── linemod_ape_3d.yml │ ├── linemod_ape_det.yml │ ├── linemod_ape_pose.yml │ ├── linemod_benchvise.yml │ ├── linemod_benchvise_det.yml │ ├── linemod_benchvise_pose.yml │ ├── linemod_camera.yml │ ├── linemod_camera_det.yml │ ├── linemod_camera_pose.yml │ ├── linemod_can_3d.yml │ ├── linemod_can_det.yml │ ├── linemod_can_pose.yml │ ├── linemod_cat_3d.yml │ ├── linemod_cat_det.yml │ ├── linemod_cat_pose.yml │ ├── linemod_color_2d.yml │ ├── linemod_driller_3d.yml │ ├── linemod_driller_det.yml │ ├── linemod_driller_pose.yml │ ├── linemod_duck_3d.yml │ ├── linemod_duck_det.yml │ ├── linemod_duck_pose.yml │ ├── linemod_eggbox_3d.yml │ ├── linemod_eggbox_det.yml │ ├── linemod_eggbox_pose.yml │ ├── linemod_glue_3d.yml │ ├── linemod_glue_det.yml │ ├── linemod_glue_pose.yml │ ├── linemod_holepuncher_3d.yml │ ├── linemod_holepuncher_det.yml │ ├── linemod_holepuncher_pose.yml │ ├── linemod_iron.yml │ ├── linemod_iron_det.yml │ ├── linemod_iron_pose.yml │ ├── linemod_lamp.yml │ ├── linemod_lamp_det.yml │ ├── linemod_lamp_pose.yml │ ├── linemod_phone.yml │ ├── linemod_phone_det.yml │ ├── linemod_phone_pose.yml │ ├── lov_color_2d.yml │ ├── lov_color_2d_full.yml │ ├── lov_color_2d_pose.yml │ ├── lov_color_3d.yml │ ├── lov_color_banana.yml │ ├── lov_color_bowl.yml │ ├── lov_color_box.yml │ ├── lov_color_gelatin_box.yml │ ├── lov_color_sugar_box.yml │ ├── lov_color_sugar_box_adapt.yml │ ├── lov_color_wood_block.yml │ ├── lov_det.yml │ ├── lov_single_color_pose.yml │ ├── lov_single_color_synthesize.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 │ ├── shapenet_single_single_color_gan.yml │ ├── sym.yml │ ├── ycb_color_2d.yml │ ├── ycb_color_2d_pose.yml │ ├── ycb_color_cracker_box.yml │ ├── ycb_color_mustard_bottle.yml │ ├── ycb_color_potted_meat_can.yml │ ├── ycb_color_sugar_box.yml │ ├── ycb_color_tomato_soup_can.yml │ └── yumi_color_2d.yml ├── grid_search.py ├── grid_search_results.txt ├── logs │ └── .gitignore └── scripts │ ├── demo.sh │ ├── linemod_ape_det_test.sh │ ├── linemod_ape_det_train.sh │ ├── linemod_ape_test.sh │ ├── linemod_ape_test_3d.sh │ ├── linemod_ape_train.sh │ ├── linemod_ape_train_3d.sh │ ├── linemod_benchvise_det_test.sh │ ├── linemod_benchvise_det_train.sh │ ├── linemod_benchvise_test.sh │ ├── linemod_benchvise_train.sh │ ├── linemod_camera_det_test.sh │ ├── linemod_camera_det_train.sh │ ├── linemod_camera_test.sh │ ├── linemod_camera_train.sh │ ├── linemod_can_det_test.sh │ ├── linemod_can_det_train.sh │ ├── linemod_can_test.sh │ ├── linemod_can_test_3d.sh │ ├── linemod_can_train.sh │ ├── linemod_can_train_3d.sh │ ├── linemod_cat_det_test.sh │ ├── linemod_cat_det_train.sh │ ├── linemod_cat_test.sh │ ├── linemod_cat_test_3d.sh │ ├── linemod_cat_train.sh │ ├── linemod_cat_train_3d.sh │ ├── linemod_color_2d.sh │ ├── linemod_driller_det_test.sh │ ├── linemod_driller_det_train.sh │ ├── linemod_driller_test.sh │ ├── linemod_driller_test_3d.sh │ ├── linemod_driller_train.sh │ ├── linemod_driller_train_3d.sh │ ├── linemod_duck_det_test.sh │ ├── linemod_duck_det_train.sh │ ├── linemod_duck_test.sh │ ├── linemod_duck_test_3d.sh │ ├── linemod_duck_train.sh │ ├── linemod_duck_train_3d.sh │ ├── linemod_eggbox_det_test.sh │ ├── linemod_eggbox_det_train.sh │ ├── linemod_eggbox_test.sh │ ├── linemod_eggbox_test_3d.sh │ ├── linemod_eggbox_train.sh │ ├── linemod_eggbox_train_3d.sh │ ├── linemod_glue_det_test.sh │ ├── linemod_glue_det_train.sh │ ├── linemod_glue_test.sh │ ├── linemod_glue_test_3d.sh │ ├── linemod_glue_train.sh │ ├── linemod_glue_train_3d.sh │ ├── linemod_holepuncher_det_test.sh │ ├── linemod_holepuncher_det_train.sh │ ├── linemod_holepuncher_test.sh │ ├── linemod_holepuncher_test_3d.sh │ ├── linemod_holepuncher_train.sh │ ├── linemod_holepuncher_train_3d.sh │ ├── linemod_iron_det_test.sh │ ├── linemod_iron_det_train.sh │ ├── linemod_iron_test.sh │ ├── linemod_iron_train.sh │ ├── linemod_lamp_det_test.sh │ ├── linemod_lamp_det_train.sh │ ├── linemod_lamp_test.sh │ ├── linemod_lamp_train.sh │ ├── linemod_phone_det_test.sh │ ├── linemod_phone_det_train.sh │ ├── linemod_phone_test.sh │ ├── linemod_phone_train.sh │ ├── lov_color_2d_test.sh │ ├── lov_color_2d_train.sh │ ├── lov_color_2d_train_full.sh │ ├── lov_color_3d.sh │ ├── lov_color_banana_test.sh │ ├── lov_color_banana_train.sh │ ├── lov_color_bowl_test.sh │ ├── lov_color_bowl_train.sh │ ├── lov_color_box_test.sh │ ├── lov_color_box_val.sh │ ├── lov_color_gelatin_box_test.sh │ ├── lov_color_gelatin_box_train.sh │ ├── lov_color_sugar_box_test.sh │ ├── lov_color_sugar_box_train.sh │ ├── lov_color_sugar_box_train_adapt.sh │ ├── lov_color_wood_block_test.sh │ ├── lov_color_wood_block_train.sh │ ├── lov_det_test.sh │ ├── lov_det_train.sh │ ├── lov_single_color_pose.sh │ ├── lov_single_color_synthesize.sh │ ├── lov_single_depth.sh │ ├── lov_synthesize.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 │ ├── shapenet_single_single_color_gan.sh │ ├── sym_test.sh │ ├── sym_train.sh │ ├── test_banana_ros.sh │ ├── test_gelatin_box_ros.sh │ ├── test_icp.sh │ ├── test_images.sh │ ├── test_images_ros.sh │ ├── test_images_ros_banana.sh │ ├── test_images_ros_yumi.sh │ ├── test_images_ycb.sh │ ├── test_images_yumi.sh │ ├── test_kinect_fusion.sh │ ├── test_render_poses.sh │ ├── test_render_poses_color.sh │ ├── test_ros_bag.sh │ ├── test_sugar_box_ros.sh │ ├── test_synthesis.sh │ ├── test_synthesis_linemod.sh │ ├── test_synthesis_sym.sh │ ├── test_synthesis_yumi.sh │ ├── ycb_color_2d_test.sh │ ├── ycb_color_2d_train.sh │ ├── ycb_color_cracker_box_test.sh │ ├── ycb_color_cracker_box_train.sh │ ├── ycb_color_mustard_bottle_test.sh │ ├── ycb_color_mustard_bottle_train.sh │ ├── ycb_color_potted_meat_can_test.sh │ ├── ycb_color_potted_meat_can_train.sh │ ├── ycb_color_sugar_box_test.sh │ ├── ycb_color_sugar_box_train.sh │ ├── ycb_color_tomato_soup_can_test.sh │ ├── ycb_color_tomato_soup_can_train.sh │ ├── yumi_color_2d_test.sh │ └── yumi_color_2d_train.sh ├── generate_dataset ├── __init__.py ├── box_size.txt ├── common.py ├── create_box_points.py ├── create_static_transforms.py ├── create_symlinks.py ├── create_traininglist.py ├── crop_eps_figures.py ├── dope_to_posecnn.py ├── export_data_from_ros_bag.py ├── get_right_quats.py ├── hand_eye_to_static_transform.py ├── kalibr_to_hand_eye.py ├── process_bag.py ├── render_cubes.py ├── visualize_dataset.py ├── visualize_mask.py ├── visualize_opencv.py └── visualize_points_in_blender.py ├── layers.txt ├── lib ├── Makefile ├── average_distance_loss │ ├── __init__.py │ ├── average_distance_loss_op.cc │ ├── average_distance_loss_op.py │ ├── average_distance_loss_op_gpu.cu.cc │ ├── average_distance_loss_op_gpu.h │ └── average_distance_loss_op_grad.py ├── 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 │ ├── linemod.py │ ├── lov.py │ ├── lov_single.py │ ├── rgbd_scene.py │ ├── shapenet_scene.py │ ├── shapenet_single.py │ ├── sym.py │ ├── ycb.py │ ├── ycb_single.py │ └── yumi.py ├── fcn │ ├── __init__.py │ ├── clr.py │ ├── config.py │ ├── test.py │ └── train.py ├── gradient_reversal_layer │ ├── __init__.py │ ├── gradient_reversal_op.cc │ ├── gradient_reversal_op.py │ ├── gradient_reversal_op_gpu.cu.cc │ ├── gradient_reversal_op_gpu.h │ └── gradient_reversal_op_grad.py ├── gt_data_layer │ ├── __init__.py │ ├── layer.py │ └── minibatch.py ├── gt_single_data_layer │ ├── __init__.py │ ├── layer.py │ └── minibatch.py ├── gt_synthesize_layer │ ├── __init__.py │ ├── layer.py │ └── minibatch.py ├── hard_label_layer │ ├── __init__.py │ ├── hard_label_op.cc │ ├── hard_label_op.py │ ├── hard_label_op_gpu.cu.cc │ ├── hard_label_op_gpu.h │ └── hard_label_op_grad.py ├── hough_voting_gpu_layer │ ├── __init__.py │ ├── hough_voting_gpu_op.cc │ ├── hough_voting_gpu_op.cu.cc │ ├── hough_voting_gpu_op.h │ ├── hough_voting_gpu_op.py │ └── hough_voting_gpu_op_grad.py ├── hough_voting_layer │ ├── Hypothesis.cpp │ ├── Hypothesis.h │ ├── __init__.py │ ├── detection.h │ ├── hough_voting_op.cc │ ├── hough_voting_op.py │ ├── hough_voting_op_grad.py │ ├── ransac.h │ ├── sampler2D.h │ ├── thread_rand.cpp │ ├── thread_rand.h │ └── types.h ├── 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 │ │ ├── canonicalVerts.frag │ │ ├── canonicalVerts.vert │ │ ├── canonicalVertsAndColor.frag │ │ ├── canonicalVertsAndColor.vert │ │ ├── canonicalVertsAndNorms.frag │ │ ├── canonicalVertsAndNorms.vert │ │ ├── canonicalVertsAndTexture.frag │ │ ├── canonicalVertsAndTexture.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 ├── make_average_distance.sh ├── make_hard_label.sh ├── make_one.sh ├── matching_loss │ ├── __init__.py │ ├── matching_loss_op.cc │ ├── matching_loss_op.py │ └── matching_loss_op_grad.py ├── networks │ ├── __init__.py │ ├── add2d.py │ ├── dcgan.py │ ├── factory.py │ ├── fcn8_vgg.py │ ├── gru2d.py │ ├── gru2d_original.py │ ├── gru3d.py │ ├── network.py │ ├── resnet50.py │ ├── vanilla2d.py │ ├── vgg16.py │ ├── vgg16_convs.py │ ├── vgg16_det.py │ ├── vgg16_full.py │ └── vgg16_gan.py ├── nms │ ├── __init__.py │ ├── cpu_nms.c │ ├── cpu_nms.pyx │ ├── gpu_nms.hpp │ ├── gpu_nms.pyx │ ├── nms_kernel.cu │ └── py_cpu_nms.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 ├── pose_refinement │ ├── CMakeLists.txt │ ├── __init__.py │ ├── cmake │ │ └── FindNLopt.cmake │ ├── refinement.cpp │ ├── refinement.hpp │ ├── refiner.hpp │ └── refiner.pyx ├── projecting_layer │ ├── __init__.py │ ├── projecting_op.cc │ ├── projecting_op.py │ ├── projecting_op_gpu.cu.cc │ ├── projecting_op_gpu.h │ └── projecting_op_grad.py ├── rendering │ ├── CMakeLists.txt │ ├── rendering.cpp │ └── rendering.hpp ├── roi_pooling_layer │ ├── __init__.py │ ├── roi_pooling_op.cc │ ├── roi_pooling_op.py │ ├── roi_pooling_op_gpu.cu.cc │ ├── roi_pooling_op_gpu.h │ ├── roi_pooling_op_grad.py │ └── roi_pooling_op_test.py ├── rpn_layer │ ├── __init__.py │ ├── anchor_target_layer.py │ ├── generate_anchors.py │ ├── proposal_layer.py │ ├── proposal_target_layer.py │ ├── proposal_top_layer.py │ └── snippets.py ├── synthesize │ ├── CMakeLists.txt │ ├── Hypothesis.cpp │ ├── Hypothesis.h │ ├── __init__.py │ ├── cmake.txt │ ├── cmake │ │ └── FindNLopt.cmake │ ├── detection.h │ ├── iou.cu │ ├── iou.h │ ├── ransac.h │ ├── run.sh │ ├── synthesize.cpp │ ├── synthesize.hpp │ ├── synthesizer.pyx │ ├── thread_rand.cpp │ ├── thread_rand.h │ └── types.h ├── 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 │ ├── bbox.c │ ├── bbox.pyx │ ├── bbox_transform.py │ ├── blob.py │ ├── nms.py │ ├── nms_wrapper.py │ ├── pose_error.py │ ├── se3.py │ ├── timer.py │ └── voxelizer.py ├── ros ├── __init__.py ├── _init_paths.py ├── listener.py ├── src │ ├── CMakeLists.txt │ └── synthesizer │ │ 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