├── .gitignore ├── LICENSE ├── README.md ├── api ├── depth2depth │ ├── .gitignore │ └── gaps │ │ ├── LICENSE.txt │ │ ├── Makefile │ │ ├── README.txt │ │ ├── apps │ │ ├── Makefile │ │ └── depth2depth │ │ │ ├── Makefile │ │ │ ├── depth2depth.cpp │ │ │ └── normal.cpp │ │ ├── convert_intermediate_data_to_rgb.py │ │ ├── depth2depth.sh │ │ ├── makefiles │ │ ├── Makefile.apps │ │ ├── Makefile.pkgs │ │ └── Makefile.std │ │ ├── pkgs │ │ ├── CSparse │ │ │ ├── CSparse.h │ │ │ ├── Makefile │ │ │ ├── README.txt │ │ │ ├── cs.h │ │ │ ├── cs_add.c │ │ │ ├── cs_amd.c │ │ │ ├── cs_chol.c │ │ │ ├── cs_cholsol.c │ │ │ ├── cs_compress.c │ │ │ ├── cs_counts.c │ │ │ ├── cs_cumsum.c │ │ │ ├── cs_dfs.c │ │ │ ├── cs_dmperm.c │ │ │ ├── cs_droptol.c │ │ │ ├── cs_dropzeros.c │ │ │ ├── cs_dupl.c │ │ │ ├── cs_entry.c │ │ │ ├── cs_ereach.c │ │ │ ├── cs_etree.c │ │ │ ├── cs_fkeep.c │ │ │ ├── cs_gaxpy.c │ │ │ ├── cs_happly.c │ │ │ ├── cs_house.c │ │ │ ├── cs_ipvec.c │ │ │ ├── cs_leaf.c │ │ │ ├── cs_load.c │ │ │ ├── cs_lsolve.c │ │ │ ├── cs_ltsolve.c │ │ │ ├── cs_lu.c │ │ │ ├── cs_lusol.c │ │ │ ├── cs_malloc.c │ │ │ ├── cs_maxtrans.c │ │ │ ├── cs_multiply.c │ │ │ ├── cs_norm.c │ │ │ ├── cs_permute.c │ │ │ ├── cs_pinv.c │ │ │ ├── cs_post.c │ │ │ ├── cs_print.c │ │ │ ├── cs_pvec.c │ │ │ ├── cs_qr.c │ │ │ ├── cs_qrsol.c │ │ │ ├── cs_randperm.c │ │ │ ├── cs_reach.c │ │ │ ├── cs_scatter.c │ │ │ ├── cs_scc.c │ │ │ ├── cs_schol.c │ │ │ ├── cs_spsolve.c │ │ │ ├── cs_sqr.c │ │ │ ├── cs_symperm.c │ │ │ ├── cs_tdfs.c │ │ │ ├── cs_transpose.c │ │ │ ├── cs_updown.c │ │ │ ├── cs_usolve.c │ │ │ ├── cs_util.c │ │ │ └── cs_utsolve.c │ │ ├── Makefile │ │ ├── R2Shapes │ │ │ ├── Makefile │ │ │ ├── R2Affine.cpp │ │ │ ├── R2Affine.h │ │ │ ├── R2Align.cpp │ │ │ ├── R2Align.h │ │ │ ├── R2Arc.cpp │ │ │ ├── R2Arc.h │ │ │ ├── R2Box.cpp │ │ │ ├── R2Box.h │ │ │ ├── R2Circle.cpp │ │ │ ├── R2Circle.h │ │ │ ├── R2Cont.cpp │ │ │ ├── R2Cont.h │ │ │ ├── R2Crdsys.cpp │ │ │ ├── R2Crdsys.h │ │ │ ├── R2Curve.cpp │ │ │ ├── R2Curve.h │ │ │ ├── R2Diad.cpp │ │ │ ├── R2Diad.h │ │ │ ├── R2Dist.cpp │ │ │ ├── R2Dist.h │ │ │ ├── R2Draw.cpp │ │ │ ├── R2Draw.h │ │ │ ├── R2Grid.cpp │ │ │ ├── R2Grid.h │ │ │ ├── R2Halfspace.cpp │ │ │ ├── R2Halfspace.h │ │ │ ├── R2Image.cpp │ │ │ ├── R2Image.h │ │ │ ├── R2Io.cpp │ │ │ ├── R2Io.h │ │ │ ├── R2Isect.cpp │ │ │ ├── R2Isect.h │ │ │ ├── R2Kdtree.cpp │ │ │ ├── R2Kdtree.h │ │ │ ├── R2Line.cpp │ │ │ ├── R2Line.h │ │ │ ├── R2Parall.cpp │ │ │ ├── R2Parall.h │ │ │ ├── R2Perp.cpp │ │ │ ├── R2Perp.h │ │ │ ├── R2Point.cpp │ │ │ ├── R2Point.h │ │ │ ├── R2Polygon.cpp │ │ │ ├── R2Polygon.h │ │ │ ├── R2Polyline.cpp │ │ │ ├── R2Polyline.h │ │ │ ├── R2Ray.cpp │ │ │ ├── R2Ray.h │ │ │ ├── R2Relate.cpp │ │ │ ├── R2Relate.h │ │ │ ├── R2Shape.cpp │ │ │ ├── R2Shape.h │ │ │ ├── R2Shapes.cpp │ │ │ ├── R2Shapes.h │ │ │ ├── R2Shapes.vcxproj │ │ │ ├── R2Shapes.vcxproj.filters │ │ │ ├── R2Solid.cpp │ │ │ ├── R2Solid.h │ │ │ ├── R2Span.cpp │ │ │ ├── R2Span.h │ │ │ ├── R2Vector.cpp │ │ │ ├── R2Vector.h │ │ │ ├── R2Xform.cpp │ │ │ ├── R2Xform.h │ │ │ ├── R3Matrix.cpp │ │ │ └── R3Matrix.h │ │ ├── RNBasics │ │ │ ├── Makefile │ │ │ ├── RNArray.I │ │ │ ├── RNArray.cpp │ │ │ ├── RNArray.h │ │ │ ├── RNBase.cpp │ │ │ ├── RNBase.h │ │ │ ├── RNBasics.cpp │ │ │ ├── RNBasics.h │ │ │ ├── RNBasics.vcxproj │ │ │ ├── RNBasics.vcxproj.filters │ │ │ ├── RNCompat.h │ │ │ ├── RNError.cpp │ │ │ ├── RNError.h │ │ │ ├── RNExtern.h │ │ │ ├── RNFile.cpp │ │ │ ├── RNFile.h │ │ │ ├── RNFlags.cpp │ │ │ ├── RNFlags.h │ │ │ ├── RNGrfx.I │ │ │ ├── RNGrfx.cpp │ │ │ ├── RNGrfx.h │ │ │ ├── RNHeap.cpp │ │ │ ├── RNHeap.h │ │ │ ├── RNIntval.cpp │ │ │ ├── RNIntval.h │ │ │ ├── RNMap.cpp │ │ │ ├── RNMap.h │ │ │ ├── RNMem.cpp │ │ │ ├── RNMem.h │ │ │ ├── RNQueue.I │ │ │ ├── RNQueue.cpp │ │ │ ├── RNQueue.h │ │ │ ├── RNRgb.cpp │ │ │ ├── RNRgb.h │ │ │ ├── RNScalar.cpp │ │ │ ├── RNScalar.h │ │ │ ├── RNSvd.cpp │ │ │ ├── RNSvd.h │ │ │ ├── RNTime.cpp │ │ │ ├── RNTime.h │ │ │ ├── RNType.cpp │ │ │ ├── RNType.h │ │ │ ├── json.cpp │ │ │ └── json.h │ │ ├── RNMath │ │ │ ├── Makefile │ │ │ ├── RNAlgebraic.cpp │ │ │ ├── RNAlgebraic.h │ │ │ ├── RNDenseLUMatrix.cpp │ │ │ ├── RNDenseLUMatrix.h │ │ │ ├── RNDenseMatrix.cpp │ │ │ ├── RNDenseMatrix.h │ │ │ ├── RNEquation.cpp │ │ │ ├── RNEquation.h │ │ │ ├── RNLapack.h │ │ │ ├── RNMath.cpp │ │ │ ├── RNMath.h │ │ │ ├── RNMatrix.cpp │ │ │ ├── RNMatrix.h │ │ │ ├── RNPolynomial.cpp │ │ │ ├── RNPolynomial.h │ │ │ ├── RNSystemOfEquations.cpp │ │ │ ├── RNSystemOfEquations.h │ │ │ ├── RNVector.cpp │ │ │ └── RNVector.h │ │ ├── jpeg │ │ │ ├── Makefile │ │ │ ├── jcapimin.c │ │ │ ├── jcapistd.c │ │ │ ├── jccoefct.c │ │ │ ├── jccolor.c │ │ │ ├── jcdctmgr.c │ │ │ ├── jchuff.c │ │ │ ├── jchuff.h │ │ │ ├── jcinit.c │ │ │ ├── jcmainct.c │ │ │ ├── jcmarker.c │ │ │ ├── jcmaster.c │ │ │ ├── jcomapi.c │ │ │ ├── jconfig.h │ │ │ ├── jcparam.c │ │ │ ├── jcphuff.c │ │ │ ├── jcprepct.c │ │ │ ├── jcsample.c │ │ │ ├── jctrans.c │ │ │ ├── jdapimin.c │ │ │ ├── jdapistd.c │ │ │ ├── jdatadst.c │ │ │ ├── jdatasrc.c │ │ │ ├── jdcoefct.c │ │ │ ├── jdcolor.c │ │ │ ├── jdct.h │ │ │ ├── jddctmgr.c │ │ │ ├── jdhuff.c │ │ │ ├── jdhuff.h │ │ │ ├── jdinput.c │ │ │ ├── jdmainct.c │ │ │ ├── jdmarker.c │ │ │ ├── jdmaster.c │ │ │ ├── jdmerge.c │ │ │ ├── jdphuff.c │ │ │ ├── jdpostct.c │ │ │ ├── jdsample.c │ │ │ ├── jdtrans.c │ │ │ ├── jerror.c │ │ │ ├── jerror.h │ │ │ ├── jfdctflt.c │ │ │ ├── jfdctfst.c │ │ │ ├── jfdctint.c │ │ │ ├── jidctflt.c │ │ │ ├── jidctfst.c │ │ │ ├── jidctint.c │ │ │ ├── jidctred.c │ │ │ ├── jinclude.h │ │ │ ├── jmemmgr.c │ │ │ ├── jmemnobs.c │ │ │ ├── jmemsys.h │ │ │ ├── jmorecfg.h │ │ │ ├── jpeg.vcxproj │ │ │ ├── jpeg.vcxproj.filters │ │ │ ├── jpegint.h │ │ │ ├── jpeglib.h │ │ │ ├── jquant1.c │ │ │ ├── jquant2.c │ │ │ ├── jutils.c │ │ │ ├── jversion.h │ │ │ └── libjpeg.doc │ │ └── png │ │ │ ├── Makefile │ │ │ ├── PNG-LICENSE.txt │ │ │ ├── PNG-README.txt │ │ │ ├── ZLIB_README.txt │ │ │ ├── adler32.c │ │ │ ├── compress.c │ │ │ ├── config.h │ │ │ ├── crc32.c │ │ │ ├── crc32.h │ │ │ ├── deflate.c │ │ │ ├── deflate.h │ │ │ ├── example.c │ │ │ ├── gzclose.c │ │ │ ├── gzguts.h │ │ │ ├── gzlib.c │ │ │ ├── gzread.c │ │ │ ├── gzwrite.c │ │ │ ├── infback.c │ │ │ ├── inffast.c │ │ │ ├── inffast.h │ │ │ ├── inffixed.h │ │ │ ├── inflate.c │ │ │ ├── inflate.h │ │ │ ├── inftrees.c │ │ │ ├── inftrees.h │ │ │ ├── minigzip.c │ │ │ ├── png.c │ │ │ ├── png.h │ │ │ ├── png.vcxproj │ │ │ ├── png.vcxproj.filters │ │ │ ├── pngconf.h │ │ │ ├── pngerror.c │ │ │ ├── pngget.c │ │ │ ├── pngmem.c │ │ │ ├── pngpread.c │ │ │ ├── pngpriv.h │ │ │ ├── pngread.c │ │ │ ├── pngrio.c │ │ │ ├── pngrtran.c │ │ │ ├── pngrutil.c │ │ │ ├── pngset.c │ │ │ ├── pngtest.c │ │ │ ├── pngtrans.c │ │ │ ├── pngwio.c │ │ │ ├── pngwrite.c │ │ │ ├── pngwtran.c │ │ │ ├── pngwutil.c │ │ │ ├── trees.c │ │ │ ├── trees.h │ │ │ ├── uncompr.c │ │ │ ├── zconf.h │ │ │ ├── zlib.h │ │ │ ├── zutil.c │ │ │ └── zutil.h │ │ └── sample_files │ │ ├── expected-output-depth-rgb.jpg │ │ ├── expected-output-depth.png │ │ ├── input-depth-rgb.jpg │ │ ├── input-depth.png │ │ ├── normals-rgb.jpg │ │ ├── normals.h5 │ │ ├── occlusion-weight-rgb.jpg │ │ ├── occlusion-weight.png │ │ ├── output-depth-rgb.jpg │ │ └── output-depth.png ├── depth_completion_api.py ├── inference_models.py ├── modeling │ ├── __init__.py │ ├── aspp.py │ ├── backbone │ │ ├── __init__.py │ │ ├── drn.py │ │ ├── mobilenet.py │ │ ├── resnet.py │ │ └── xception.py │ ├── decoder.py │ ├── decoder_masks.py │ ├── deeplab.py │ ├── deeplab_masks.py │ └── sync_batchnorm │ │ ├── __init__.py │ │ ├── batchnorm.py │ │ ├── comm.py │ │ ├── replicate.py │ │ └── unittest.py └── utils.py ├── data ├── .gitkeep ├── readme_images │ ├── cleargrasp_approach_overview.png │ ├── eval-000000000-result-viz.png │ └── task.png └── sample_dataset │ ├── real-val │ └── d435 │ │ ├── 000000080-mask.png │ │ ├── 000000080-normals.exr │ │ ├── 000000080-opaque-depth-img.exr │ │ ├── 000000080-opaque-rgb-img.jpg │ │ ├── 000000080-transparent-depth-img.exr │ │ ├── 000000080-transparent-rgb-img.jpg │ │ ├── 000000123-mask.png │ │ ├── 000000123-normals.exr │ │ ├── 000000123-opaque-depth-img.exr │ │ ├── 000000123-opaque-rgb-img.jpg │ │ ├── 000000123-transparent-depth-img.exr │ │ ├── 000000123-transparent-rgb-img.jpg │ │ ├── 000000130-mask.png │ │ ├── 000000130-normals.exr │ │ ├── 000000130-opaque-depth-img.exr │ │ ├── 000000130-opaque-rgb-img.jpg │ │ ├── 000000130-transparent-depth-img.exr │ │ ├── 000000130-transparent-rgb-img.jpg │ │ ├── 000000153-mask.png │ │ ├── 000000153-normals.exr │ │ ├── 000000153-opaque-depth-img.exr │ │ ├── 000000153-opaque-rgb-img.jpg │ │ ├── 000000153-transparent-depth-img.exr │ │ ├── 000000153-transparent-rgb-img.jpg │ │ └── camera_intrinsics.yaml │ └── synthetic-val │ └── square-plastic-bottle-val │ ├── camera-normals │ ├── 000000000-cameraNormals.exr │ ├── 000000002-cameraNormals.exr │ └── 000000004-cameraNormals.exr │ ├── depth-imgs-rectified │ ├── 000000000-depth-rectified.exr │ ├── 000000002-depth-rectified.exr │ └── 000000004-depth-rectified.exr │ ├── json-files │ ├── 000000000-masks.json │ ├── 000000002-masks.json │ └── 000000004-masks.json │ ├── outlines │ ├── 000000000-outlineSegmentation.png │ ├── 000000002-outlineSegmentation.png │ └── 000000004-outlineSegmentation.png │ ├── rgb-imgs │ ├── 000000000-rgb.jpg │ ├── 000000002-rgb.jpg │ └── 000000004-rgb.jpg │ ├── segmentation-masks │ ├── 000000000-segmentation-mask.png │ ├── 000000002-segmentation-mask.png │ └── 000000004-segmentation-mask.png │ └── variant-masks │ ├── 000000000-variantMasks.exr │ ├── 000000002-variantMasks.exr │ └── 000000004-variantMasks.exr ├── dataset_capture_gui ├── .gitignore ├── camera_parameters.txt └── capture_image.py ├── eval_depth_completion ├── .gitignore ├── config │ └── config.yaml.sample └── eval_depth_completion.py ├── live_demo ├── .gitignore ├── config │ └── config.yaml.sample ├── live_demo.py └── realsense │ ├── CMakeLists.txt │ ├── camera.py │ ├── cmake_install.cmake │ ├── example.hpp │ ├── imgui.ini │ ├── realsense-custom-settings-001.json │ ├── realsense.cpp │ ├── reset_usb.sh │ ├── start_two_camera.sh │ └── stb_easy_font.h ├── pytorch_networks ├── .gitignore ├── masks │ ├── config │ │ └── config.yaml.sample │ ├── dataloader.py │ ├── eval.py │ ├── modeling │ │ ├── __init__.py │ │ ├── aspp.py │ │ ├── backbone │ │ │ ├── __init__.py │ │ │ ├── drn.py │ │ │ ├── mobilenet.py │ │ │ ├── resnet.py │ │ │ └── xception.py │ │ ├── decoder.py │ │ ├── decoder_masks.py │ │ ├── deeplab.py │ │ └── sync_batchnorm │ │ │ ├── __init__.py │ │ │ ├── batchnorm.py │ │ │ ├── comm.py │ │ │ ├── replicate.py │ │ │ └── unittest.py │ ├── train.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py ├── occlusion_boundaries │ ├── config │ │ └── config.yaml.sample │ ├── dataloader.py │ ├── eval.py │ ├── modeling │ │ ├── __init__.py │ │ ├── aspp.py │ │ ├── backbone │ │ │ ├── __init__.py │ │ │ ├── drn.py │ │ │ ├── mobilenet.py │ │ │ ├── resnet.py │ │ │ └── xception.py │ │ ├── decoder.py │ │ ├── decoder_masks.py │ │ ├── deeplab.py │ │ └── sync_batchnorm │ │ │ ├── __init__.py │ │ │ ├── batchnorm.py │ │ │ ├── comm.py │ │ │ ├── replicate.py │ │ │ └── unittest.py │ ├── train.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py └── surface_normals │ ├── config │ └── config.yaml.sample │ ├── dataloader.py │ ├── dataloader_matterport.py │ ├── dataloader_scannet.py │ ├── eval.py │ ├── loss_functions.py │ ├── modeling │ ├── __init__.py │ ├── aspp.py │ ├── backbone │ │ ├── __init__.py │ │ ├── drn.py │ │ ├── mobilenet.py │ │ ├── resnet.py │ │ └── xception.py │ ├── decoder.py │ ├── decoder_masks.py │ ├── deeplab.py │ └── sync_batchnorm │ │ ├── __init__.py │ │ ├── batchnorm.py │ │ ├── comm.py │ │ ├── replicate.py │ │ └── unittest.py │ ├── train.py │ └── utils │ ├── __init__.py │ ├── depth_exr_to_scaled_png.py │ ├── depth_numpy_to_exr.py │ ├── inference_results_collage.py │ ├── lr_finder.py │ ├── realsense_capture.py │ ├── utils.py │ ├── visualize_normals.py │ └── visualize_scaled_depth.py ├── requirements.txt └── z-ignore-scripts-helper ├── .gitignore ├── SensorData.py ├── calculate_false_positives.py ├── calculate_surface_normals_real_images.py ├── check_img_size.py ├── convert_depth_exr_scaled_png.py ├── convert_exr_depth_to_png.py ├── convert_exr_normals_to_png.py ├── convert_outlines_rgb_to_png.py ├── correct_normals_zero.py ├── create_animation_of_pointcloud.py ├── create_animation_of_ptclouds_live_capture_sequence.py ├── create_gifs_from_sequences_folders.py ├── create_pointcloud_real_data.py ├── create_pointcloud_results.py ├── create_sequences_pointclouds_animation_folders.py ├── create_synthetic_samples_for_video.py ├── crop_sequences.py ├── data_processing_script.py ├── dataset_split.sh ├── delete-files-run-data-process-script.sh ├── depth2rgb_real_syn_data.py ├── depth_exr_to_scaled_png.py ├── depth_numpy_to_exr.py ├── depth_surface_not_touching.py ├── download-scannet.py ├── edit_max_depth.py ├── extract_scannet_sens_file.py ├── file_list.py ├── generate_outline_depth_normals.py ├── 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