├── .dockerignore ├── .flake8 ├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── WEIGHTS_LICENSE ├── configs ├── adam_latent.toml ├── adam_quick.toml ├── adam_slow.toml ├── cross_entropy_latent.toml ├── cross_entropy_linemod.toml ├── cross_entropy_quick.toml └── cross_entropy_slow.toml ├── env.sh ├── environment.yml ├── examples └── pose_estimation.ipynb ├── latentfusion ├── __init__.py ├── augment │ ├── __init__.py │ ├── masks.py │ └── tensors.py ├── consts.py ├── datasets │ ├── __init__.py │ ├── bop.py │ ├── colmap.py │ ├── kinectfusion.py │ ├── realsense.py │ ├── training │ │ ├── __init__.py │ │ ├── bop_pyrender.py │ │ ├── modelnet.py │ │ ├── pyrender.py │ │ ├── shapenet.py │ │ └── ycb.py │ └── triplet.py ├── distances.py ├── functional.py ├── ibr.py ├── imutils.py ├── losses.py ├── meshutils.py ├── modules │ ├── __init__.py │ ├── blocks.py │ ├── equalized.py │ ├── geometry.py │ ├── gru.py │ ├── lstm.py │ └── unet.py ├── observation.py ├── pggan │ ├── __init__.py │ ├── discriminator.py │ └── generator.py ├── pointcloud.py ├── pose │ ├── __init__.py │ ├── bop.py │ ├── estimation.py │ ├── format.py │ ├── initialization.py │ ├── metrics.py │ ├── plotting.py │ └── utils.py ├── recon │ ├── __init__.py │ ├── fusion.py │ ├── inference.py │ ├── models.py │ └── utils.py ├── rendering.py ├── tbutils.py ├── three │ ├── __init__.py │ ├── batchview.py │ ├── core.py │ ├── orientation.py │ ├── quaternion.py │ ├── rigid.py │ ├── stats.py │ └── utils.py ├── torchutils.py ├── trainutils.py ├── utils.py ├── videos.py └── visualization.py ├── resources ├── merl_blinn_phong.csv ├── open3d_config.json ├── shapenet_blacklist.json └── shapenet_taxonomy.json └── tools ├── __init__.py ├── dataset ├── __init__.py ├── align_views.py ├── mask_chroma.py ├── moped_eval_pointclouds.py ├── preprocess_shapenet.py ├── process_realsense_scan.sh ├── process_realsense_scan_all.sh ├── record_realsense.py ├── resize_textures.py └── shapenet_filter.py ├── poserbpf_comparison.py └── train 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