├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── data ├── DEX_YCB │ └── empty ├── YCB_Self_Supervision │ ├── all.txt │ ├── all_ycb.txt │ ├── debug.txt │ ├── extents.txt │ ├── stats.txt │ ├── test.txt │ ├── train_1.txt │ ├── train_2.txt │ ├── train_3.txt │ ├── train_4.txt │ ├── train_5.txt │ ├── train_block.txt │ ├── train_block_azure.txt │ ├── train_block_big_sim.txt │ ├── train_block_median.txt │ ├── train_block_median_azure.txt │ ├── train_block_median_sim.txt │ ├── train_block_small_sim.txt │ └── train_table.txt ├── YCB_Video │ ├── classes.txt │ ├── debug.txt │ ├── extents.txt │ ├── keyframe.txt │ ├── models.txt │ ├── train.txt │ ├── trainval.txt │ └── val.txt ├── demo │ ├── 000000-color.png │ ├── 000000-depth.png │ ├── 000001-color.png │ ├── 000001-depth.png │ ├── 000002-color.png │ ├── 000002-depth.png │ ├── 000003-color.png │ ├── 000003-depth.png │ ├── deepim_results_COLOR │ │ ├── 000000-color.png.mat │ │ ├── 000000-color.png_render.jpg │ │ ├── 000001-color.png.mat │ │ ├── 000001-color.png_render.jpg │ │ ├── 000002-color.png.mat │ │ ├── 000002-color.png_render.jpg │ │ ├── 000003-color.png.mat │ │ └── 000003-color.png_render.jpg │ ├── deepim_results_RGBD │ │ ├── 000000-color.png.mat │ │ ├── 000000-color.png_render.jpg │ │ ├── 000001-color.png.mat │ │ ├── 000001-color.png_render.jpg │ │ ├── 000002-color.png.mat │ │ ├── 000002-color.png_render.jpg │ │ ├── 000003-color.png.mat │ │ └── 000003-color.png_render.jpg │ ├── meta.yml │ └── posecnn_results │ │ ├── 000000-color.png.mat │ │ ├── 000000-color.png_render.jpg │ │ ├── 000000-color.png_render_refined.jpg │ │ ├── 000001-color.png.mat │ │ ├── 000001-color.png_render.jpg │ │ ├── 000001-color.png_render_refined.jpg │ │ ├── 000002-color.png.mat │ │ ├── 000002-color.png_render.jpg │ │ ├── 000002-color.png_render_refined.jpg │ │ ├── 000003-color.png.mat │ │ ├── 000003-color.png_render.jpg │ │ └── 000003-color.png_render_refined.jpg ├── pics │ ├── deepim.gif │ ├── deepim.png │ └── intro.png ├── sunrgbd.pkl └── sunrgbd.txt ├── experiments ├── cfgs │ ├── dex_ycb_flow.yml │ ├── dex_ycb_flow_rgbd.yml │ ├── ycb_object_flow.yml │ ├── ycb_object_flow_rgbd.yml │ ├── ycb_object_flow_rgbd_self_supervision.yml │ ├── ycb_object_flow_self_supervision.yml │ ├── ycb_video_flow.yml │ └── ycb_video_flow_rgbd.yml └── scripts │ ├── demo.sh │ ├── demo_rgbd.sh │ ├── dex_ycb_flow_rgbd_test_s0.sh │ ├── dex_ycb_flow_rgbd_test_s1.sh │ ├── dex_ycb_flow_rgbd_test_s2.sh │ ├── dex_ycb_flow_rgbd_test_s3.sh │ ├── dex_ycb_flow_rgbd_train_s0.sh │ ├── dex_ycb_flow_rgbd_train_s1.sh │ ├── dex_ycb_flow_rgbd_train_s2.sh │ ├── dex_ycb_flow_rgbd_train_s3.sh │ ├── dex_ycb_flow_test_s0.sh │ ├── dex_ycb_flow_test_s1.sh │ ├── dex_ycb_flow_test_s2.sh │ ├── dex_ycb_flow_test_s3.sh │ ├── dex_ycb_flow_train_s0.sh │ ├── dex_ycb_flow_train_s1.sh │ ├── dex_ycb_flow_train_s2.sh │ ├── dex_ycb_flow_train_s3.sh │ ├── ros_ycb_object_rgbd_test.sh │ ├── ros_ycb_object_test.sh │ ├── ycb_object_flow_rgbd_test.sh │ ├── ycb_object_flow_rgbd_train.sh │ ├── ycb_object_flow_rgbd_train_self_supervision.sh │ ├── ycb_object_flow_test.sh │ ├── ycb_object_flow_train.sh │ ├── ycb_object_flow_train_self_supervision.sh │ ├── ycb_video_flow_rgbd_test.sh │ ├── ycb_video_flow_rgbd_train.sh │ ├── ycb_video_flow_test.sh │ └── ycb_video_flow_train.sh ├── lib ├── datasets │ ├── __init__.py │ ├── background.py │ ├── dex_ycb.py │ ├── factory.py │ ├── imdb.py │ ├── ycb_object.py │ ├── ycb_self_supervision.py │ └── ycb_video.py ├── fcn │ ├── __init__.py │ ├── config.py │ ├── multiscaleloss.py │ └── train_test.py ├── networks │ ├── FlowNetS.py │ └── __init__.py ├── point_matching_loss │ ├── PMLoss.py │ ├── __init__.py │ ├── point_matching_loss.cpp │ ├── point_matching_loss_kernel.cu │ └── setup.py └── utils │ ├── __init__.py │ ├── bbox.pyx │ ├── blob.py │ ├── nms.py │ ├── pose_error.py │ ├── se3.py │ ├── setup.py │ ├── show_flows.py │ ├── timer.py │ └── zoom_in.py ├── package.xml ├── requirement.txt ├── ros ├── _init_paths.py ├── listener.py └── test_images.py ├── tools ├── _init_paths.py ├── demo_coordinate.py ├── sunrgbd_list.py ├── test_images.py ├── test_net.py └── train_net.py └── ycb_render ├── CMakeLists.txt ├── __init__.py ├── cpp ├── query_devices.cpp ├── test_device.cpp └── ycb_renderer.cpp ├── get_available_devices.py ├── glad ├── EGL │ └── eglplatform.h ├── KHR │ └── khrplatform.h ├── egl.c ├── gl.c ├── glad │ ├── egl.h │ ├── gl.h │ └── glx.h ├── glx_dyn.c └── linmath.h ├── glutils ├── __init__.py ├── _trackball.py ├── glcontext.py ├── glrenderer.py ├── meshutil.py ├── trackball.py └── utils.py ├── misc ├── fps.png └── husky.jpg ├── setup.py ├── shaders ├── frag.shader ├── frag_blinnphong.shader ├── frag_mat.shader ├── frag_simple.shader ├── frag_textureless.shader ├── vert.shader ├── vert_blinnphong.shader ├── vert_mat.shader ├── vert_simple.shader └── vert_textureless.shader ├── visualize_sim.py └── ycb_renderer.py /.gitignore: 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