├── .gitattributes ├── .gitmodules ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── configs ├── callback │ ├── base.yaml │ ├── checkpoint │ │ └── base.yaml │ └── lr │ │ └── base.yaml ├── data │ └── bop.yaml ├── inference_gotrack.yaml ├── inference_pose_estimation.yaml ├── machine │ ├── local.yaml │ └── trainer │ │ ├── local.yaml │ │ └── logger │ │ └── tensorboard.yaml ├── model │ ├── all.yaml │ ├── cnos.yaml │ ├── foundpose.yaml │ ├── gotrack.yaml │ └── onboarding.yaml └── user │ └── default.yaml ├── dataloader ├── base.py └── bop.py ├── environment.yml ├── gotrack_checkpoint.pt ├── media ├── gotrack.png └── qualitative_pose_pipeline.png ├── model ├── base.py ├── blocks │ ├── attention.py │ ├── config.py │ ├── cross_attention.py │ ├── decoder.py │ ├── decoder_block.py │ ├── mlp.py │ └── rope2d.py ├── cnos.py ├── config.py ├── foundpose.py ├── gotrack.py ├── heads │ ├── cnn │ │ ├── config.py │ │ └── model.py │ ├── dpt │ │ ├── config.py │ │ ├── fusion_block.py │ │ ├── model.py │ │ └── util.py │ └── raft │ │ ├── config.py │ │ └── model.py └── pipeline.py ├── scripts ├── download_bop_classic_core.py ├── download_bop_h3.py ├── download_coarse_poses_bop_classic_core.py ├── download_default_detections_bop_classic_core.py ├── download_default_detections_bop_h3.py ├── env.sh ├── inference_gotrack.py ├── inference_pose_estimation.py └── vis_dataset.py └── utils ├── __init__.py ├── cluster_util.py ├── config.py ├── corresp_util.py ├── crop_generation.py ├── data_util.py ├── dinov2_util.py ├── fastsam_util.py ├── feature_util.py ├── gen_repre_util.py ├── im_util.py ├── json_util.py ├── knn_util.py ├── logging.py ├── loss_util.py ├── misc.py ├── net_util.py ├── pca_util.py ├── pnp_util.py ├── poser_util.py ├── render_vis_util.py ├── renderer.py ├── renderer_base.py ├── renderer_builder.py ├── repre_util.py ├── structs.py ├── template_util.py ├── torch_helpers.py ├── transform3d.py ├── vis_base_util.py ├── vis_flow_util.py └── vis_foundpose_util.py 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