├── .gitignore ├── LICENSE ├── README.md ├── data ├── lmo │ └── .gitkeep ├── tless │ └── .gitkeep └── ycbv │ └── .gitkeep ├── docker ├── Dockerfile ├── README.md └── build_docker.sh ├── hipose ├── Binary_Code_GT_Generator │ ├── Generate_GT.md │ ├── Generate_Mesh_with_GT_Color │ │ ├── CMakeLists.txt │ │ └── Generate_Mesh_with_GT_Color.cpp │ ├── Render_GT_Color_Mesh_to_GT_Img │ │ ├── CMakeLists.txt │ │ ├── Render_Python_API │ │ │ ├── RenderModule.cpp │ │ │ └── setup.py │ │ └── render_related_source │ │ │ ├── camera.hpp │ │ │ ├── model.hpp │ │ │ ├── opengl_render.cpp │ │ │ ├── opengl_render.hpp │ │ │ ├── shader.hpp │ │ │ ├── shader_groundtruth.fs │ │ │ └── shader_groundtruth.vs │ ├── generate_Class_CorresPoint_withNorm.py │ ├── generate_mesh_with_GT_color_for_BOP.py │ ├── generate_training_labels_for_BOP.py │ ├── generate_training_labels_for_BOP_v2.py │ └── generate_training_labels_for_BOP_v2_modified.py ├── GDR_Net_Augmentation.py ├── __init__.py ├── binary_code_helper │ ├── CNN_output_to_pose.py │ ├── CNN_output_to_pose_region.py │ ├── CNN_output_to_pose_region_for_test_with_region_v3.py │ ├── __init__.py │ ├── class_id_encoder_decoder.py │ └── generate_new_dict.py ├── bop_dataset_3d.py ├── bop_dataset_3d_convnext_backbone.py ├── bop_toolkit │ ├── .gitignore │ ├── .gitmodules │ ├── LICENSE │ ├── README.md │ ├── bop_toolkit_lib │ │ ├── __init__.py │ │ ├── colors.json │ │ ├── config.py │ │ ├── dataset │ │ │ ├── __init__.py │ │ │ ├── bop_imagewise.py │ │ │ ├── bop_scenewise.py │ │ │ ├── bop_webdataset.py │ │ │ ├── convert_imagewise_to_webdataset.py │ │ │ └── convert_scenewise_to_imagewise.py │ │ ├── dataset_params.py │ │ ├── droid_sans_mono.ttf │ │ ├── droid_sans_mono_license.txt │ │ ├── inout.py │ │ ├── misc.py │ │ ├── pose_error.py │ │ ├── pose_matching.py │ │ ├── pycoco_utils.py │ │ ├── renderer.py │ │ ├── renderer_cpp.py │ │ ├── renderer_py.py │ │ ├── renderer_vispy.py │ │ ├── score.py │ │ ├── transform.py │ │ ├── view_sampler.py │ │ ├── visibility.py │ │ └── visualization.py │ ├── docs │ │ ├── bop_challenge_2019_re-evaluation_27-01-2020.md │ │ ├── bop_challenge_2023_training_datasets.md │ │ └── bop_datasets_format.md │ ├── requirements.txt │ ├── scripts │ │ ├── annotation_tool.py │ │ ├── benchmark_dataformats.py │ │ ├── calc_gt_coco.py │ │ ├── calc_gt_distribution.py │ │ ├── calc_gt_info.py │ │ ├── calc_gt_masks.py │ │ ├── calc_model_info.py │ │ ├── check_results_bop19.py │ │ ├── eval_bop19_pose.py │ │ ├── eval_bop22_coco.py │ │ ├── eval_calc_errors.py │ │ ├── eval_calc_scores.py │ │ ├── generate_with_half_color.py │ │ ├── meshlab_scripts │ │ │ ├── remesh_for_eval_cell=0.25.mlx │ │ │ └── remesh_for_eval_cell=0.5.mlx │ │ ├── remesh_models_for_eval.py │ │ ├── render_train_imgs.py │ │ ├── show_performance_bop19.py │ │ ├── vis_est_box.py │ │ ├── vis_est_poses.py │ │ ├── vis_gt_poses.py │ │ └── vis_object_symmetries.py │ └── setup.py ├── common_ops.py ├── config │ ├── test_lmo_config.txt │ ├── test_tless_config.txt │ ├── test_ycbv_config.txt │ ├── train_lmo_config.txt │ ├── train_tless_config.txt │ └── train_ycbv_config.txt ├── config_parser.py ├── depth_aug.py ├── detection_results │ ├── gdrnpp │ │ ├── gdrnppdet-pbr_tless-test_bed88a8e-1e0e-405b-8c62-8e7b83cf8934.json │ │ ├── gdrnppdet-pbr_ycbv-test_cfa8a0cb-5ebe-45d9-b9ba-1fd53633ca01.json │ │ ├── gdrnppdet-pbrreal_lmo-test_202a2f15-cbd0-49df-90de-650428c6d157.json │ │ ├── yolox_x_640_lmo_pbr_lmo_bop_test.json │ │ ├── yolox_x_640_tless_pbr_tless_bop_test.json │ │ └── yolox_x_640_ycbv_pbr_ycbv_bop_test.json │ ├── lmo │ │ ├── faster_R50_FPN_AugCosyAAE_HalfAnchor_lmo_pbr_lmo_fuse_real_all_8e_test_480x640.json │ │ └── fcos_V57eSE_MSx1333_ColorAugAAEWeaker_8e_lmo_pbr.json │ ├── tless │ │ ├── fcos_V57eSE_MSx1333_ColorAugAAEWeaker_8e_tless_real_pbr.json │ │ └── tless_bop_pbr_only.json │ └── ycbv │ │ ├── fcos_V57eSE_MSx1333_ColorAugAAEWeaker_8e_ycbv_real_pbr_8e_test_keyframe.json │ │ └── ycbv_detections_bop_pbr_only.json ├── get_detection_results.py ├── get_mask_rcnn_results.py ├── metric.py ├── models │ ├── RandLA │ │ ├── .gitattributes │ │ ├── README.md │ │ ├── RandLANet.py │ │ ├── __init__.py │ │ ├── compile_op.sh │ │ ├── helper_tool.py │ │ ├── pytorch_utils.py │ │ ├── test_model.py │ │ └── utils │ │ │ ├── 6_fold_cv.py │ │ │ ├── cpp_wrappers │ │ │ ├── compile_wrappers.sh │ │ │ ├── cpp_subsampling │ │ │ │ ├── grid_subsampling │ │ │ │ │ ├── grid_subsampling.cpp │ │ │ │ │ └── grid_subsampling.h │ │ │ │ ├── setup.py │ │ │ │ └── wrapper.cpp │ │ │ └── cpp_utils │ │ │ │ ├── cloud │ │ │ │ ├── cloud.cpp │ │ │ │ └── cloud.h │ │ │ │ └── nanoflann │ │ │ │ └── nanoflann.hpp │ │ │ ├── data_prepare_s3dis.py │ │ │ ├── data_prepare_semantic3d.py │ │ │ ├── data_prepare_semantickitti.py │ │ │ ├── download_semantic3d.sh │ │ │ ├── meta │ │ │ ├── anno_paths.txt │ │ │ └── class_names.txt │ │ │ ├── nearest_neighbors │ │ │ ├── KDTreeTableAdaptor.h │ │ │ ├── knn_.cxx │ │ │ ├── knn_.h │ │ │ ├── knn_pybind.cpp │ │ │ ├── nanoflann.hpp │ │ │ └── setup.py │ │ │ 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