├── .gitignore ├── LICENSE ├── README.md ├── assets └── pipeline.jpg ├── camera ├── __init__.py ├── camera.py ├── configs │ ├── sam2.1 │ │ ├── sam2.1_hiera_b+.yaml │ │ ├── sam2.1_hiera_l.yaml │ │ ├── sam2.1_hiera_s.yaml │ │ └── sam2.1_hiera_t.yaml │ ├── sam2.1_training │ │ └── sam2.1_hiera_b+_MOSE_finetune.yaml │ └── sam2 │ │ ├── sam2_hiera_b+.yaml │ │ ├── sam2_hiera_l.yaml │ │ ├── sam2_hiera_s.yaml │ │ └── sam2_hiera_t.yaml ├── constants.py ├── images.py └── realsense_helper.py ├── configs └── config.py ├── datasets ├── datasets_infer.py ├── datasets_infer_camera.py ├── datasets_omni6dpose.py └── datasets_tracking.py ├── networks ├── decoder_head │ ├── rot_head.py │ └── trans_head.py ├── gf_algorithms │ ├── energynet.py │ ├── losses.py │ ├── samplers.py │ ├── score_utils.py │ ├── scorenet.py │ └── sde.py ├── posenet.py ├── posenet_agent.py ├── pts_encoder │ ├── pointnet2.py │ ├── pointnet2_utils │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── pointnet2 │ │ │ ├── pointnet2_modules.py │ │ │ ├── pointnet2_utils.py │ │ │ ├── pytorch_utils.py │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── ball_query_gpu.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── group_points_gpu.h │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── interpolate_gpu.h │ │ │ │ ├── pointnet2_api.cpp │ │ │ │ ├── sampling.cpp │ │ │ │ ├── sampling_gpu.cu │ │ │ │ └── sampling_gpu.h │ │ └── tools │ │ │ ├── _init_path.py │ │ │ ├── data │ │ │ └── KITTI │ │ │ │ └── ImageSets │ │ │ │ ├── test.txt │ │ │ │ ├── train.txt │ │ │ │ ├── trainval.txt │ │ │ │ └── val.txt │ │ │ ├── dataset.py │ │ │ ├── kitti_utils.py │ │ │ ├── pointnet2_msg.py │ │ │ └── train_and_eval.py │ └── pointnets.py ├── reward.py └── scalenet.py ├── requirements.txt ├── requirements_camera.txt ├── runners ├── evaluation_single.py ├── evaluation_tracking.py ├── infer.py ├── infer_camera.py └── trainer.py ├── scripts ├── eval_single.sh ├── eval_tracking.sh ├── tensorboard.sh ├── train_energy.sh ├── train_scale.sh └── train_score.sh └── utils ├── data_augmentation.py ├── datasets_utils.py ├── genpose_utils.py ├── metrics.py ├── misc.py ├── sgpa_utils.py ├── so3_visualize.py ├── tracking_utils.py ├── transforms ├── __init__.py ├── math.py ├── rotation_conversions.py ├── se3.py ├── so3.py ├── transform3d.py └── workaround │ ├── __init__.py │ ├── symeig3x3.py │ └── utils.py └── visualize.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Omni6DPose/GenPose2/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Omni6DPose/GenPose2/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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