├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── data ├── UR5_drill_svm │ ├── binary_L0_f.model │ ├── binary_L1_f.model │ └── binary_L2_f.model ├── UR5_svm_old │ ├── binary_L0_f.model │ ├── binary_L1_f.model │ └── binary_L2_f.model ├── UW_fpfh_dict │ ├── dict_fpfh_L0_1.cvmat │ ├── dict_fpfh_L0_100.cvmat │ ├── dict_fpfh_L0_1500.cvmat │ ├── dict_fpfh_L0_200.cvmat │ ├── dict_fpfh_L0_25.cvmat │ ├── dict_fpfh_L0_2500.cvmat │ ├── dict_fpfh_L0_400.cvmat │ ├── dict_fpfh_L0_50.cvmat │ └── dict_fpfh_L0_800.cvmat ├── UW_shot_dict │ ├── dict_color_L0_200.cvmat │ └── dict_depth_L0_200.cvmat ├── UW_sift_dict │ ├── dict_sift_L0_1.cvmat │ ├── dict_sift_L0_100.cvmat │ ├── dict_sift_L0_200.cvmat │ ├── dict_sift_L0_25.cvmat │ ├── dict_sift_L0_400.cvmat │ └── dict_sift_L0_50.cvmat ├── link_node_svm │ ├── binary_L0_f.model │ ├── binary_L1_f.model │ ├── binary_L2_f.model │ ├── multi_L0_f.model │ ├── multi_L1_f.model │ └── multi_L2_f.model └── mesh │ ├── drill.obj │ ├── drill.ply │ ├── drill.vtk │ ├── drill_flat.obj │ ├── drill_flat.ply │ ├── drill_flat.vtk │ ├── drill_point.obj │ ├── drill_point.ply │ ├── drill_point.vtk │ ├── driller_small.mlp │ ├── driller_small.obj │ ├── driller_small.ply │ ├── driller_small.vtk │ ├── link_uniform.obj │ ├── link_uniform.vtk │ ├── mallet_ball_pein.obj │ ├── mallet_ball_pein.ply │ ├── mallet_ball_pein.vtk │ ├── mallet_black_white.obj │ ├── mallet_black_white.ply │ ├── mallet_black_white.vtk │ ├── mallet_drilling.obj │ ├── mallet_drilling.ply │ ├── mallet_drilling.vtk │ ├── mallet_fiber.obj │ ├── mallet_fiber.ply │ ├── mallet_fiber.vtk │ ├── mesh_final.mlp │ ├── node_uniform.obj │ ├── node_uniform.vtk │ ├── old_hammer.obj │ ├── old_hammer.ply │ ├── old_hammer.vtk │ ├── sander.obj │ ├── sander.ply │ └── sander.vtk ├── include └── sp_segmenter │ ├── BBDataParser.h │ ├── JHUDataParser.h │ ├── PnPUtil.h │ ├── SIFTpooling.h │ ├── UWDataParser.h │ ├── WKmeans.h │ ├── common.h │ ├── features.h │ ├── greedyObjRansac.h │ ├── klttracker.h │ ├── plane.h │ ├── refinePoses.h │ ├── ros_semantic_segmentation.h │ ├── seg.h │ ├── semantic_segmentation.h │ ├── semantic_segmentation.tcc │ ├── sp_compact.h │ ├── spatial_pose.h │ ├── stringVectorArgsReader.h │ ├── symmetricOrientationRealignment.h │ ├── table_segmenter.h │ ├── tracker.h │ └── utility │ ├── mcqd.h │ ├── typedef.h │ └── utility.h ├── launch ├── SPCompact.launch ├── SPSegmenter_tracking.launch ├── SPServer.launch ├── SPServerStructureAssembly.launch ├── SPSgreyLinkNode.launch ├── objectDatabase.yaml ├── parameters.launch └── segmentRegion.yaml ├── package.xml ├── python_binding ├── py_input_to_cpp_utils.h ├── py_semantic_segmentation.cpp ├── py_sp_compact.cpp ├── sample_segmentation.py └── sample_training.py ├── sample_pcd_data ├── raw_crop_box_table.pcd ├── raw_sample_point_cloud.pcd ├── raw_unsegmented_table.pcd ├── segmented_sample_point_cloud.pcd └── table.pcd ├── scripts └── republisher.py ├── src ├── BBDataParser.cpp ├── HierFea.cpp ├── Int_Imager.cpp ├── JHUDataParser.cpp ├── PnPUtil.cpp ├── Pooler_L0.cpp ├── TestSymmetricOrientationRealignment.cpp ├── UWDataParser.cpp ├── WKmeans.cpp ├── common.cpp ├── features.cpp ├── greedyObjRansac.cpp ├── klttracker.cpp ├── main_classify.cpp ├── main_dict.cpp ├── main_foreground.cpp ├── main_foreground_test.cpp ├── main_gt_seg.cpp ├── main_hardneg.cpp ├── main_partial.cpp ├── main_ros.cpp ├── main_sample_semantic_segmentation.cpp ├── main_semantics.cpp ├── main_sift_test.cpp ├── main_simple_seg.cpp ├── main_sp_compact.cpp ├── main_sp_svm.cpp ├── main_sp_training.cpp ├── main_triple.cpp ├── main_uw_test.cpp ├── ros_semantic_segmentation.cpp ├── seg.cpp ├── semantic_segmentation.cpp ├── sp.cpp ├── sp_compact.cpp ├── sp_segmenter_server.cpp ├── spatial_pose.cpp ├── table_segmenter.cpp ├── tracker.cpp └── warehouse │ ├── main_3Dto2D.cpp │ ├── main_build_mesh_1.cpp │ ├── main_classify_UW_C.cpp │ ├── main_compar.cpp │ ├── main_gen_rotset.cpp │ ├── main_mesh.cpp │ ├── main_pool_learning.cpp │ ├── main_register.cpp │ ├── main_render_partial.cpp │ ├── main_stat.cpp │ ├── main_unirot.cpp │ ├── main_viewcloud.cpp │ └── main_viewcolor.cpp ├── srv ├── SPSegmenterServer.srv └── SegmentInGripper.srv └── utility ├── liblinear ├── COPYRIGHT ├── Makefile ├── Makefile.win ├── README ├── README.multicore ├── blas │ ├── Makefile │ ├── blas.h │ ├── blasp.h │ ├── daxpy.c │ ├── ddot.c │ ├── dnrm2.c │ └── dscal.c ├── heart_scale ├── linear.cpp ├── linear.def ├── linear.h ├── matlab │ ├── Makefile │ ├── README │ ├── README.multicore │ ├── libsvmread.c │ ├── libsvmwrite.c │ ├── linear_model_matlab.c │ ├── linear_model_matlab.h │ ├── make.m │ ├── predict.c │ └── train.c ├── predict.c ├── python │ ├── Makefile │ ├── README │ ├── liblinear.py │ └── liblinearutil.py ├── train.c ├── tron.cpp └── tron.h ├── mcqd.cpp └── utility.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jhu-lcsr/sp_segmenter/HEAD/.gitignore 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