├── README.md ├── data ├── class_labels │ ├── backpack │ │ ├── 372_41258_82188.json │ │ ├── 373_41833_83497.json │ │ ├── 377_43807_87174.json │ │ ├── 380_45067_90178.json │ │ ├── 392_47554_94568.json │ │ ├── 394_48785_96498.json │ │ ├── 396_49707_97904.json │ │ ├── 398_50591_99242.json │ │ ├── 405_53979_105220.json │ │ └── 406_54413_105663.json │ ├── bicycle │ │ ├── 350_36647_68462.json │ │ ├── 379_44443_88521.json │ │ ├── 380_45199_90451.json │ │ ├── 397_49943_98337.json │ │ ├── 397_49968_98375.json │ │ ├── 416_57518_111782.json │ │ ├── 424_59119_114602.json │ │ ├── 430_60627_118124.json │ │ ├── 430_60639_118175.json │ │ └── 62_4318_10726.json │ ├── book │ │ ├── 102_11955_20634.json │ │ ├── 119_13962_28926.json │ │ ├── 150_16670_31845.json │ │ ├── 150_16682_31912.json │ │ ├── 150_16684_31898.json │ │ ├── 209_22171_45188.json │ │ ├── 247_26448_50927.json │ │ ├── 247_26469_51778.json │ │ ├── 271_28906_56261.json │ │ └── 289_30608_58317.json │ ├── car │ │ ├── 106_12650_23736.json │ │ ├── 106_12662_23043.json │ │ ├── 194_20880_39999.json │ │ ├── 244_25999_52630.json │ │ ├── 336_34852_64130.json │ │ ├── 336_34859_64111.json │ │ ├── 351_37072_67647.json │ │ ├── 415_57125_110159.json │ │ ├── 425_59318_114490.json │ │ └── 425_59326_114632.json │ ├── chair │ │ ├── 351_37038_67401.json │ │ ├── 373_41625_83088.json │ │ ├── 374_42034_84104.json │ │ ├── 374_42035_84101.json │ │ ├── 375_42629_85404.json │ │ ├── 378_44299_88302.json │ │ ├── 385_45456_90931.json │ │ ├── 387_46509_92729.json │ │ ├── 394_48672_96259.json │ │ └── 62_4322_10924.json │ ├── hairdryer │ │ ├── 108_12857_23582.json │ │ ├── 108_12886_25593.json │ │ ├── 118_13853_28129.json │ │ ├── 169_18395_34792.json │ │ ├── 377_43475_86547.json │ │ ├── 397_50098_98533.json │ │ ├── 399_50869_99829.json │ │ ├── 405_54005_105344.json │ │ ├── 422_58717_114131.json │ │ └── 54_3215_9769.json │ ├── handbag │ │ ├── 396_49595_97747.json │ │ ├── 396_49732_97961.json │ │ ├── 396_49743_97969.json │ │ ├── 396_49755_97990.json │ │ ├── 396_49770_98014.json │ │ ├── 399_51220_100573.json │ │ ├── 399_51336_100813.json │ │ ├── 403_53234_103842.json │ │ ├── 404_53490_104287.json │ │ └── 406_54429_105679.json │ ├── hydrant │ │ ├── 106_12698_26785.json │ │ ├── 167_18184_34441.json │ │ ├── 268_28507_57781.json │ │ ├── 411_56064_108483.json │ │ ├── 415_57139_110204.json │ │ ├── 415_57164_110268.json │ │ ├── 417_57576_110766.json │ │ ├── 417_57589_110770.json │ │ ├── 417_57649_111097.json │ │ └── 423_58828_113391.json │ ├── keyboard │ │ ├── 153_16970_32014.json │ │ ├── 191_20618_38473.json │ │ ├── 200_21537_42776.json │ │ ├── 292_31073_58906.json │ │ ├── 341_35497_65208.json │ │ ├── 372_41329_82427.json │ │ ├── 372_41341_82431.json │ │ ├── 375_42592_85333.json │ │ ├── 386_46257_92261.json │ │ └── 391_46971_93673.json │ ├── laptop │ │ ├── 112_13277_23636.json │ │ ├── 375_42370_84855.json │ │ ├── 375_42554_85257.json │ │ ├── 377_43614_86861.json │ │ ├── 378_44182_88143.json │ │ ├── 378_44211_88110.json │ │ ├── 378_44219_88122.json │ │ ├── 385_45393_90753.json │ │ ├── 385_45439_90912.json │ │ └── 394_48419_95927.json │ ├── motorcycle │ │ ├── 216_22798_47409.json │ │ ├── 352_37094_70814.json │ │ ├── 352_37168_70976.json │ │ ├── 362_38282_75316.json │ │ ├── 362_38283_75358.json │ │ ├── 365_39202_76357.json │ │ ├── 411_56000_108102.json │ │ ├── 411_56044_108398.json │ │ ├── 415_57166_110339.json │ │ └── 417_57764_111476.json │ ├── mouse │ │ ├── 107_12753_23606.json │ │ ├── 117_13764_29495.json │ │ ├── 372_40880_81064.json │ │ ├── 373_41385_82618.json │ │ ├── 373_41442_82717.json │ │ ├── 374_41907_84025.json │ │ ├── 374_42100_84191.json │ │ ├── 377_43416_86289.json │ │ ├── 378_43936_87684.json │ │ └── 93_10158_18975.json │ ├── remote │ │ ├── 195_20989_41543.json │ │ ├── 207_21891_45343.json │ │ ├── 236_24795_52261.json │ │ ├── 269_28626_57685.json │ │ ├── 350_36752_68568.json │ │ ├── 350_36761_68623.json │ │ ├── 350_36845_69081.json │ │ ├── 353_37231_69732.json │ │ ├── 353_37253_70110.json │ │ └── 68_5249_12348.json │ ├── teddybear │ │ ├── 187_20215_38541.json │ │ ├── 246_26300_51362.json │ │ ├── 341_35460_64796.json │ │ ├── 341_35499_65227.json │ │ ├── 34_1479_4753.json │ │ ├── 372_40983_81668.json │ │ ├── 374_42036_84301.json │ │ ├── 385_45623_91338.json │ │ ├── 386_46187_92177.json │ │ └── 394_48729_96451.json │ ├── toaster │ │ ├── 274_29359_56269.json │ │ ├── 274_29377_57743.json │ │ ├── 292_31062_58509.json │ │ ├── 353_37324_70302.json │ │ ├── 372_41229_82130.json │ │ ├── 378_44230_88166.json │ │ ├── 396_49530_97666.json │ │ ├── 403_52871_103187.json │ │ ├── 409_55533_107255.json │ │ └── 420_58350_113096.json │ ├── toilet │ │ ├── 165_18077_34348.json │ │ ├── 184_19904_39401.json │ │ ├── 205_21701_46423.json │ │ ├── 267_28306_55651.json │ │ ├── 408_55369_106138.json │ │ ├── 408_55408_106488.json │ │ ├── 415_57027_109343.json │ │ ├── 417_57653_111146.json │ │ ├── 419_58020_112158.json │ │ └── 421_58554_113130.json │ ├── toybus │ │ ├── 309_32618_59889.json │ │ ├── 350_36981_69420.json │ │ ├── 353_37320_70198.json │ │ ├── 378_44187_88070.json │ │ ├── 385_45443_90882.json │ │ ├── 385_45782_91506.json │ │ ├── 385_45791_91517.json │ │ ├── 387_46858_93208.json │ │ ├── 407_55228_107137.json │ │ └── 428_60187_117329.json │ ├── toyplane │ │ ├── 111_13152_22750.json │ │ ├── 264_28179_53215.json │ │ ├── 346_35993_65868.json │ │ ├── 373_41482_82819.json │ │ ├── 378_44241_88170.json │ │ ├── 387_46705_92998.json │ │ ├── 405_53880_105088.json │ │ ├── 412_56280_108773.json │ │ ├── 420_58339_112945.json │ │ └── 422_58633_113508.json │ ├── toytrain │ │ ├── 240_25394_51994.json │ │ ├── 372_40891_81087.json │ │ ├── 372_41101_81827.json │ │ ├── 375_42379_85005.json │ │ ├── 380_44977_90067.json │ │ ├── 386_46059_91973.json │ │ ├── 399_51178_100455.json │ │ ├── 399_51323_100753.json │ │ ├── 402_52434_102712.json │ │ └── 426_59633_115306.json │ └── toytruck │ │ ├── 172_18673_33961.json │ │ ├── 190_20494_39385.json │ │ ├── 346_36113_66551.json │ │ ├── 353_37431_70460.json │ │ ├── 353_37438_70470.json │ │ ├── 372_41100_81948.json │ │ ├── 379_44648_89000.json │ │ ├── 379_44672_89080.json │ │ ├── 396_49575_97719.json │ │ └── 426_59630_115272.json └── determ_eval │ ├── 200samples_1tgt │ ├── backpack.pt │ ├── bicycle.pt │ ├── book.pt │ ├── car.pt │ ├── chair.pt │ ├── hairdryer.pt │ ├── handbag.pt │ ├── hydrant.pt │ ├── keyboard.pt │ ├── laptop.pt │ ├── motorcycle.pt │ ├── mouse.pt │ ├── remote.pt │ ├── teddybear.pt │ ├── toaster.pt │ ├── toilet.pt │ ├── toybus.pt │ ├── toyplane.pt │ ├── toytrain.pt │ └── toytruck.pt │ ├── 200samples_20tgt │ ├── backpack.pt │ ├── bicycle.pt │ ├── book.pt │ ├── car.pt │ ├── chair.pt │ ├── hairdryer.pt │ ├── handbag.pt │ ├── hydrant.pt │ ├── keyboard.pt │ ├── laptop.pt │ ├── motorcycle.pt │ ├── mouse.pt │ ├── remote.pt │ ├── teddybear.pt │ ├── toaster.pt │ ├── toilet.pt │ ├── toybus.pt │ ├── toyplane.pt │ ├── toytrain.pt │ └── toytruck.pt │ ├── 200samples_3tgt │ ├── backpack.pt │ ├── bicycle.pt │ ├── book.pt │ ├── car.pt │ ├── chair.pt │ ├── hairdryer.pt │ ├── handbag.pt │ ├── hydrant.pt │ ├── keyboard.pt │ ├── laptop.pt │ ├── motorcycle.pt │ ├── mouse.pt │ ├── remote.pt │ ├── teddybear.pt │ ├── toaster.pt │ ├── toilet.pt │ ├── toybus.pt │ ├── toyplane.pt │ ├── toytrain.pt │ └── toytruck.pt │ ├── 200samples_50tgt │ ├── backpack.pt │ ├── bicycle.pt │ ├── book.pt │ ├── car.pt │ ├── chair.pt │ ├── hairdryer.pt │ ├── handbag.pt │ ├── hydrant.pt │ ├── keyboard.pt │ ├── laptop.pt │ ├── motorcycle.pt │ ├── mouse.pt │ ├── remote.pt │ ├── teddybear.pt │ ├── toaster.pt │ ├── toilet.pt │ ├── toybus.pt │ ├── toyplane.pt │ ├── toytrain.pt │ └── toytruck.pt │ └── 200samples_5tgt │ ├── backpack.pt │ ├── bicycle.pt │ ├── book.pt │ ├── car.pt │ ├── chair.pt │ ├── hairdryer.pt │ ├── handbag.pt │ ├── hydrant.pt │ ├── keyboard.pt │ ├── laptop.pt │ ├── motorcycle.pt │ ├── mouse.pt │ ├── remote.pt │ ├── teddybear.pt │ ├── toaster.pt │ ├── toilet.pt │ ├── toybus.pt │ ├── toyplane.pt │ ├── toytrain.pt │ └── toytruck.pt ├── environment.yml ├── main.jpg ├── setup.py └── zsp ├── __init__.py ├── __pycache__ └── __init__.cpython-39.pyc ├── datasets ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-39.pyc │ ├── co3d_dataset.cpython-39.pyc │ ├── co3d_dataset_fix.cpython-39.pyc │ ├── co3d_pose_dataset.cpython-39.pyc │ └── co3d_types.cpython-39.pyc ├── co3d_dataset.py ├── co3d_pose_dataset.py ├── co3d_tools │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-39.pyc │ │ ├── camera_utils.cpython-39.pyc │ │ ├── point_cloud_utils.cpython-39.pyc │ │ └── vis_utils.cpython-39.pyc │ ├── camera_utils.py │ ├── image_utils.py │ ├── metric_utils.py │ ├── point_cloud_utils.py │ ├── utils.py │ └── vis_utils.py └── co3d_types.py ├── method ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-39.pyc │ ├── baseline_utils.cpython-39.pyc │ ├── best_frame.cpython-39.pyc │ ├── correspond.cpython-39.pyc │ ├── correspondence_functions.cpython-39.pyc │ ├── dense_descriptor_utils.cpython-39.pyc │ ├── icp_functions.cpython-39.pyc │ ├── resnet.cpython-39.pyc │ ├── rigid_body.cpython-39.pyc │ ├── vision_transformer_flexible.cpython-39.pyc │ ├── zero_shot_pose.cpython-39.pyc │ ├── zero_shot_pose_utils.cpython-39.pyc │ └── zsp.cpython-39.pyc ├── correspondence_functions.py ├── dense_descriptor_utils.py ├── evaluate_ref_to_target_pose.py ├── icp_functions.py ├── rigid_body.py ├── vision_transformer_flexible.py ├── zero_shot_pose.py └── zero_shot_pose_utils.py └── utils ├── __init__.py ├── __pycache__ ├── __init__.cpython-39.pyc ├── depthproc.cpython-39.pyc ├── paths.cpython-39.pyc ├── pcd_proc.cpython-39.pyc ├── project_utils.cpython-39.pyc └── visuals.cpython-39.pyc ├── depthproc.py ├── paths.py ├── pcd_proc.py ├── project_utils.py └── visuals.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/applied-ai-lab/zero-shot-pose/HEAD/README.md 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