├── .gitmodules ├── Linemod-Real ├── .gitignore ├── .idea │ ├── .gitignore │ ├── .name │ ├── ObjectDatasetTools.iml │ ├── inspectionProfiles │ │ ├── Project_Default.xml │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── vcs.xml ├── LICENSE ├── README.md ├── aruco.py ├── arucomarkers │ ├── IDs.txt │ └── arucomarkers.pdf ├── compute_gt_poses.py ├── config │ ├── __init__.py │ └── registrationParameters.py ├── create_label_files.py ├── doc │ ├── 1.jpg │ ├── cover.png │ ├── installation.md │ ├── segmented.png │ ├── setup.png │ ├── sugar.gif │ └── unsegmented.png ├── get_BBs.py ├── getmeshscale.py ├── inspectMasks.py ├── makeTrainTestfiles.py ├── record.py ├── record2.py ├── register_scene.py ├── register_segmented.py ├── registration.py ├── scripts │ ├── compute_model_info.py │ ├── gt_file.py │ ├── info.py │ ├── model.py │ ├── png_rename.py │ ├── re-format.py │ └── train_test_txt.py ├── utils │ ├── __init__.py │ ├── camera.py │ ├── plane.py │ └── ply.py └── 华南虎工程视觉开源文档.pdf ├── Linemod-Render ├── .gitignore ├── BlenderProc │ ├── .clabot │ ├── .github │ │ ├── ISSUE_TEMPLATE │ │ │ ├── bug_report.md │ │ │ ├── feature_request.md │ │ │ └── request-for-dataset-support.md │ │ └── workflows │ │ │ ├── blenderprochelper.yml │ │ │ └── draft-pdf.yml │ ├── .idea │ │ ├── .gitignore │ │ ├── BlenderProc.iml │ │ ├── inspectionProfiles │ │ │ ├── Project_Default.xml │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ └── modules.xml │ ├── .pylintrc │ ├── CITATION.cff │ ├── CLA_entities.pdf │ ├── CLA_individuals.pdf │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.md │ ├── README_BlenderProc4BOP.md │ ├── blenderproc │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── api │ │ │ ├── __init__.py │ │ │ ├── camera │ │ │ │ └── __init__.py │ │ │ ├── constructor │ │ │ ├── filter │ │ │ │ └── __init__.py │ │ │ ├── lighting │ │ │ │ └── __init__.py │ │ │ ├── loader │ │ │ │ └── __init__.py │ │ │ ├── material │ │ │ │ └── __init__.py │ │ │ ├── math │ │ │ │ └── __init__.py │ │ │ ├── object │ │ │ │ └── __init__.py │ │ │ ├── postprocessing │ │ │ │ └── __init__.py │ │ │ ├── renderer │ │ │ │ └── __init__.py │ │ │ ├── sampler │ │ │ │ └── __init__.py │ │ │ ├── types │ │ │ │ └── __init__.py │ │ │ ├── utility │ │ │ │ └── __init__.py │ │ │ ├── world │ │ │ │ └── __init__.py │ │ │ └── writer │ │ │ │ └── __init__.py │ │ ├── command_line.py │ │ ├── debug.py │ │ ├── debug_startup.py │ │ ├── external │ │ │ ├── __init__.py │ │ │ └── vhacd │ │ │ │ ├── __init__.py │ │ │ │ ├── build_linux.sh │ │ │ │ └── decompose.py │ │ ├── python │ │ │ ├── __init__.py │ │ │ ├── camera │ │ │ │ ├── CameraUtility.py │ │ │ │ ├── CameraValidation.py │ │ │ │ ├── LensDistortionUtility.py │ │ │ │ └── __init__.py │ │ │ ├── constructor │ │ │ ├── filter │ │ │ │ ├── Filter.py │ │ │ │ └── __init__.py │ │ │ ├── lighting │ │ │ │ ├── IntersectingSpotLight.py │ │ │ │ ├── SuncgLighting.py │ │ │ │ ├── SurfaceLighting.py │ │ │ │ └── __init__.py │ │ │ ├── loader │ │ │ │ ├── AMASSLoader.py │ │ │ │ ├── BlendLoader.py │ │ │ │ ├── BopLoader.py │ │ │ │ ├── CCMaterialLoader.py │ │ │ │ ├── Front3DLoader.py │ │ │ │ ├── HavenEnvironmentLoader.py │ │ │ │ ├── HavenMaterialLoader.py │ │ │ │ ├── IKEALoader.py │ │ │ │ ├── Matterport3DLoader.py │ │ │ │ ├── ObjectLoader.py │ │ │ │ ├── Pix3DLoader.py │ │ │ │ ├── ReplicaLoader.py │ │ │ │ ├── RockEssentialsRockLoader.py │ │ │ │ ├── SceneNetLoader.py │ │ │ │ ├── ShapeNetLoader.py │ │ │ │ ├── SuncgLoader.py │ │ │ │ ├── TextureLoader.py │ │ │ │ ├── URDFLoader.py │ │ │ │ └── __init__.py │ │ │ ├── material │ │ │ │ ├── Dust.py │ │ │ │ ├── MaterialLoaderUtility.py │ │ │ │ └── __init__.py │ │ │ ├── modules │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── camera │ │ │ │ │ ├── CameraInterface.py │ │ │ │ │ ├── CameraLoader.py │ │ │ │ │ ├── CameraSampler.py │ │ │ │ │ ├── Front3DCameraSampler.py │ │ │ │ │ ├── ReplicaCameraSampler.py │ │ │ │ │ ├── SuncgCameraSampler.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── composite │ │ │ │ │ ├── CameraObjectSampler.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── constructor │ │ │ │ ├── lighting │ │ │ │ │ ├── LightInterface.py │ │ │ │ │ ├── LightLoader.py │ │ │ │ │ ├── LightSampler.py │ │ │ │ │ ├── SuncgLightingModule.py │ │ │ │ │ ├── SurfaceLightingModule.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── loader │ │ │ │ │ ├── AMASSLoaderModule.py │ │ │ │ │ ├── BlendLoaderModule.py │ │ │ │ │ ├── BopLoaderModule.py │ │ │ │ │ ├── CCMaterialLoaderModule.py │ │ │ │ │ ├── Front3DLoaderModule.py │ │ │ │ │ ├── HavenEnvironmentLoaderModule.py │ │ │ │ │ ├── HavenMaterialLoaderModule.py │ │ │ │ │ ├── IKEALoaderModule.py │ │ │ │ │ ├── LoaderInterface.py │ │ │ │ │ ├── ObjectLoaderModule.py │ │ │ │ │ ├── Pix3DLoaderModule.py │ │ │ │ │ ├── ReplicaLoaderModule.py │ │ │ │ │ ├── RockEssentialsRockLoaderModule.py │ │ │ │ │ ├── SceneNetLoaderModule.py │ │ │ │ │ ├── ShapeNetLoaderModule.py │ │ │ │ │ ├── SuncgLoaderModule.py │ │ │ │ │ ├── TextureLoaderModule.py │ │ │ │ │ ├── VisNormalImage.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── main │ │ │ │ │ ├── GlobalStorage.py │ │ │ │ │ ├── InitializerModule.py │ │ │ │ │ ├── Module.py │ │ │ │ │ ├── Pipeline.py │ │ │ │ │ ├── Provider.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── manipulators │ │ │ │ │ ├── EntityManipulator.py │ │ │ │ │ ├── MaterialManipulator.py │ │ │ │ │ ├── WorldManipulator.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── materials │ │ │ │ │ ├── RockEssentialsTextureSampler.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── object │ │ │ │ │ ├── CalibrationboardSampler.py │ │ │ │ │ ├── FloorExtractorModule.py │ │ │ │ │ ├── HideModule.py │ │ │ │ │ ├── ObjectPoseSamplerModule.py │ │ │ │ │ ├── ObjectReplacerModule.py │ │ │ │ │ ├── OnSurfaceSamplerModule.py │ │ │ │ │ ├── PhysicsPositioningModule.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── postprocessing │ │ │ │ │ ├── Dist2Depth.py │ │ │ │ │ ├── LensDistortion.py │ │ │ │ │ ├── NoiseRemoval.py │ │ │ │ │ ├── OilPaintFilter.py │ │ │ │ │ ├── TrimRedundantChannels.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── provider │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── getter │ │ │ │ │ │ ├── Attribute.py │ │ │ │ │ │ ├── AttributeMerger.py │ │ │ │ │ │ ├── Entity.py │ │ │ │ │ │ ├── Material.py │ │ │ │ │ │ ├── POI.py │ │ │ │ │ │ ├── Texture.py │ │ │ │ │ │ └── __init__.py │ │ │ │ │ └── sampler │ │ │ │ │ │ ├── Color.py │ │ │ │ │ │ ├── DiskModule.py │ │ │ │ │ │ ├── PartSphereModule.py │ │ │ │ │ │ ├── Path.py │ │ │ │ │ │ ├── ShellModule.py │ │ │ │ │ │ ├── SphereModule.py │ │ │ │ │ │ ├── Texture.py │ │ │ │ │ │ ├── Uniform3d.py │ │ │ │ │ │ ├── UniformSO3Module.py │ │ │ │ │ │ ├── UpperRegionSamplerModule.py │ │ │ │ │ │ ├── Value.py │ │ │ │ │ │ └── __init__.py │ │ │ │ ├── renderer │ │ │ │ │ ├── FlowRenderer.py │ │ │ │ │ ├── RendererInterface.py │ │ │ │ │ ├── RgbRenderer.py │ │ │ │ │ ├── SegMapRenderer.py │ │ │ │ │ └── __init__.py │ │ │ │ ├── utility │ │ │ │ │ ├── Config.py │ │ │ │ │ ├── ConfigParser.py │ │ │ │ │ ├── ItemCollection.py │ │ │ │ │ ├── ItemWriter.py │ │ │ │ │ └── __init__.py │ │ │ │ └── writer │ │ │ │ │ ├── BopWriter.py │ │ │ │ │ ├── CameraStateWriter.py │ │ │ │ │ ├── CocoAnnotationsWriter.py │ │ │ │ │ ├── Hdf5Writer.py │ │ │ │ │ ├── LightStateWriter.py │ │ │ │ │ ├── ObjectStateWriter.py │ │ │ │ │ ├── ShapeNetWriter.py │ │ │ │ │ ├── StereoGlobalMatchingWriterModule.py │ │ │ │ │ ├── WriterInterface.py │ │ │ │ │ └── __init__.py │ │ │ ├── object │ │ │ │ ├── FaceSlicer.py │ │ │ │ ├── ObjectMerging.py │ │ │ │ ├── ObjectPoseSampler.py │ │ │ │ ├── ObjectReplacer.py │ │ │ │ ├── OnSurfaceSampler.py │ │ │ │ ├── PhysicsSimulation.py │ │ │ │ └── __init__.py │ │ │ ├── postprocessing │ │ │ │ ├── PostProcessingUtility.py │ │ │ │ ├── StereoGlobalMatching.py │ │ │ │ └── __init__.py │ │ │ ├── renderer │ │ │ │ ├── FlowRendererUtility.py │ │ │ │ ├── NOCSRendererUtility.py │ │ │ │ ├── RendererUtility.py │ │ │ │ ├── SegMapRendererUtility.py │ │ │ │ └── __init__.py │ │ │ ├── sampler │ │ │ │ ├── Disk.py │ │ │ │ ├── Front3DPointInRoomSampler.py │ │ │ │ ├── PartSphere.py │ │ │ │ ├── RandomWalk.py │ │ │ │ ├── ReplicaPointInRoomSampler.py │ │ │ │ ├── Shell.py │ │ │ │ ├── Sphere.py │ │ │ │ ├── SuncgPointInRoomSampler.py │ │ │ │ ├── UniformSO3.py │ │ │ │ ├── UpperRegionSampler.py │ │ │ │ └── __init__.py │ │ │ ├── tests │ │ │ │ ├── SilentMode.py │ │ │ │ ├── TestsPathManager.py │ │ │ │ └── __init__.py │ │ │ ├── types │ │ │ │ ├── ArmatureUtility.py │ │ │ │ ├── BoneUtility.py │ │ │ │ ├── EntityUtility.py │ │ │ │ ├── InertialUtility.py │ │ │ │ ├── LightUtility.py │ │ │ │ ├── LinkUtility.py │ │ │ │ ├── MaterialUtility.py │ │ │ │ ├── MeshObjectUtility.py │ │ │ │ ├── StructUtility.py │ │ │ │ ├── StructUtilityFunctions.py │ │ │ │ ├── URDFUtility.py │ │ │ │ └── __init__.py │ │ │ ├── utility │ │ │ │ ├── BlenderUtility.py │ │ │ │ ├── CollisionUtility.py │ │ │ │ ├── DefaultConfig.py │ │ │ │ ├── Initializer.py │ │ │ │ ├── InstallUtility.py │ │ │ │ ├── LabelIdMapping.py │ │ │ │ ├── MathUtility.py │ │ │ │ ├── PatternUtility.py │ │ │ │ ├── SetupUtility.py │ │ │ │ ├── Utility.py │ │ │ │ └── __init__.py │ │ │ └── writer │ │ │ │ ├── BopWriterUtility.py │ │ │ │ ├── CocoWriterUtility.py │ │ │ │ ├── GifWriterUtility.py │ │ │ │ ├── WriterUtility.py │ │ │ │ └── __init__.py │ │ ├── resources │ │ │ ├── AMASS │ │ │ │ └── taxonomy.json │ │ │ ├── __init__.py │ │ │ ├── front_3D │ │ │ │ ├── 3D_front_mapping.csv │ │ │ │ ├── 3D_front_nyu_mapping.csv │ │ │ │ ├── __init__.py │ │ │ │ └── find_all_front_3D_labels.py │ │ │ ├── id_mappings │ │ │ │ ├── nyu_idset.csv │ │ │ │ └── old_idset.csv │ │ │ ├── replica │ │ │ │ └── height_levels │ │ │ │ │ ├── apartment_0 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── apartment_1 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── apartment_2 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── frl_apartment_0 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── frl_apartment_1 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── frl_apartment_2 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── frl_apartment_3 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── frl_apartment_4 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── frl_apartment_5 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── hotel_0 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── office_0 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── office_1 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── office_2 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── office_3 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── office_4 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── room_0 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ ├── room_1 │ │ │ │ │ └── height_list_values.txt │ │ │ │ │ └── room_2 │ │ │ │ │ └── height_list_values.txt │ │ │ ├── scenenet │ │ │ │ └── CategoryLabeling.csv │ │ │ └── suncg │ │ │ │ ├── Better_labeling_for_NYU.csv │ │ │ │ ├── ModelCategoryMapping.csv │ │ │ │ └── light_geometry_compact.txt │ │ ├── run.py │ │ ├── scripts │ │ │ ├── __init__.py │ │ │ ├── download_blenderkit.py │ │ │ ├── download_cc_textures.py │ │ │ ├── download_haven.py │ │ │ ├── download_ikea.py │ │ │ ├── download_matterport3d.py │ │ │ ├── download_pix3d.py │ │ │ ├── download_scenenet.py │ │ │ ├── quickstart.py │ │ │ ├── saveAsImg.py │ │ │ ├── visHdf5Files.py │ │ │ └── vis_coco_annotation.py │ │ └── version.py │ ├── change_log.md │ ├── cli.py │ ├── docs │ │ ├── Makefile │ │ ├── Readme.md │ │ ├── change_csv_tables_docu.py │ │ ├── cleanup_api_imports.py │ │ ├── config_for_pip_install.yaml │ │ ├── find_missing_docu.py │ │ ├── generate.sh │ │ ├── generate_nice_vis_rendering.py │ │ ├── make.bat │ │ ├── prepare_markdown.py │ │ ├── run.py │ │ ├── source │ │ │ ├── _static │ │ │ │ └── css │ │ │ │ │ └── theme_overrides.css │ │ │ ├── conf.py │ │ │ ├── ext │ │ │ │ └── moduleoverview.py │ │ │ └── index.rst │ │ └── tutorials │ │ │ ├── camera.md │ │ │ ├── key_frames.md │ │ │ ├── loader.md │ │ │ ├── physics.md │ │ │ ├── renderer.md │ │ │ └── writer.md │ ├── examples │ │ ├── EXAMPLE_README_TEMPLATE.md │ │ ├── README.md │ │ ├── advanced │ │ │ ├── README.md │ │ │ ├── auto_shading │ │ │ │ ├── README.md │ │ │ │ ├── camera_position │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── scene.blend │ │ │ ├── calibration │ │ │ │ ├── README.md │ │ │ │ ├── calibrate.py │ │ │ │ ├── chess.mtl │ │ │ │ ├── chess.obj │ │ │ │ └── config.yaml │ │ │ ├── camera_depth_of_field │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── camera_random_trajectories │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── coco_annotations │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── scene.blend │ │ │ ├── diffuse_color_image │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── dust │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── entity_displacement_modifier │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── gif_animation │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── kinect_azure_noise │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── lens_distortion │ │ │ │ ├── README.md │ │ │ │ ├── callab_platte.blend │ │ │ │ ├── callab_platte.mtl │ │ │ │ ├── callab_platte.obj │ │ │ │ ├── callab_platte_justin.blend │ │ │ │ ├── callab_platte_justin.mtl │ │ │ │ ├── callab_platte_justin.obj │ │ │ │ ├── camera_calibration_callab_img0.cal │ │ │ │ ├── camera_calibration_callab_img1.cal │ │ │ │ ├── camera_calibration_callab_img2.cal │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── main_callab.py │ │ │ ├── material_randomizer │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── motion_blur_rolling_shutter │ │ │ │ ├── README.md │ │ │ │ ├── camera_positions │ │ │ │ ├── config_motion_blur.yaml │ │ │ │ ├── config_rolling_shutter.yaml │ │ │ │ ├── main_motion_blur.py │ │ │ │ └── main_rolling_shutter.py │ │ │ ├── multi_render │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── nocs │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── object_pose_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── on_surface_object_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── scene.blend │ │ │ ├── optical_flow │ │ │ │ ├── README.md │ │ │ │ ├── camera_positions │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── physics_convex_decomposition │ │ │ │ ├── README.md │ │ │ │ ├── bin.mtl │ │ │ │ ├── bin.obj │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── random_backgrounds │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ ├── object.ply │ │ │ │ └── paste_images_on_backgrounds.py │ │ │ ├── random_room_constructor │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── spotlight │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── stereo_matching │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── stereo_matching_with_projector │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── patterns │ │ │ │ │ ├── random_pattern_00256.png │ │ │ │ │ ├── random_pattern_02809.png │ │ │ │ │ └── random_pattern_25600.png │ │ │ └── urdf_loading_and_manipulation │ │ │ │ ├── README.md │ │ │ │ ├── main.py │ │ │ │ └── rendered_example.png │ │ ├── basics │ │ │ ├── README.md │ │ │ ├── basic │ │ │ │ ├── README.md │ │ │ │ ├── basic_example.ipynb │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── camera_object_pose │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── obj_000004.ply │ │ │ ├── camera_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── entity_manipulation │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── light_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── material_manipulation │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ ├── sample_texture.jpg │ │ │ │ ├── scene.mtl │ │ │ │ └── scene.obj │ │ │ ├── physics_positioning │ │ │ │ ├── README.md │ │ │ │ ├── active.mtl │ │ │ │ ├── active.obj │ │ │ │ ├── camera_positions │ │ │ │ │ └── 0.hdf5 │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ ├── passive.mtl │ │ │ │ └── passive.obj │ │ │ └── semantic_segmentation │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ ├── main.py │ │ │ │ └── scene.blend │ │ ├── datasets │ │ │ ├── README.md │ │ │ ├── amass_human_poses │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── blenderkit │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── bop_challenge │ │ │ │ ├── README.md │ │ │ │ ├── config_hb_random.yaml │ │ │ │ ├── config_icbin_random.yaml │ │ │ │ ├── config_itodd_random.yaml │ │ │ │ ├── config_lm_upright.yaml │ │ │ │ ├── config_tless_random.yaml │ │ │ │ ├── config_tudl_random.yaml │ │ │ │ ├── config_ycbv_random.yaml │ │ │ │ ├── main_hb_random.py │ │ │ │ ├── main_icbin_random.py │ │ │ │ ├── main_itodd_random.py │ │ │ │ ├── main_lm_upright.py │ │ │ │ ├── main_tless_random.py │ │ │ │ ├── main_tudl_random.py │ │ │ │ └── main_ycbv_random.py │ │ │ ├── bop_object_on_surface_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── bop_object_physics_positioning │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── bop_object_pose_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── bop_scene_replication │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── front_3d │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── front_3d_object_sampling │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── front_3d_with_improved_mat │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── haven │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── ikea │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── matterport3d │ │ │ │ ├── README.md │ │ │ │ └── main.py │ │ │ ├── pix3d │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── replica │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── rock_essentials │ │ │ │ ├── README.md │ │ │ │ └── config.yaml │ │ │ ├── scenenet │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── scenenet_with_cctextures │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── shapenet │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── shapenet_with_scenenet │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── shapenet_with_suncg │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── suncg_basic │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── suncg_with_cam_sampling │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ ├── suncg_with_improved_mat │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ │ └── suncg_with_object_replacer │ │ │ │ ├── README.md │ │ │ │ ├── config.yaml │ │ │ │ └── main.py │ │ └── resources │ │ │ ├── camera_positions │ │ │ ├── medical_robot │ │ │ ├── base.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.obj │ │ │ ├── link7.obj │ │ │ └── miro.urdf │ │ │ ├── scene.mtl │ │ │ └── scene.obj │ ├── images │ │ ├── BlenderProcRerun.jpg │ │ ├── BlenderProcVideoImg.jpg │ │ ├── amass_human_poses_rendering.jpg │ │ ├── auto_shading_rendering.jpg │ │ ├── basic_rendering_0.jpg │ │ ├── basic_rendering_1.jpg │ │ ├── blenderkit_rendered_example.jpg │ │ ├── bop_object_on_surface_sampling_rendering.jpg │ │ ├── bop_object_physics_positioning_rendering.jpg │ │ ├── bop_object_pose_sampling_hb_sample.jpg │ │ ├── bop_object_pose_sampling_hb_sample_inst.jpg │ │ ├── bop_object_pose_sampling_tless_sample.jpg │ │ ├── bop_scene_replication_hb.jpg │ │ ├── bop_scene_replication_icbin.jpg │ │ ├── bop_scene_replication_tless.jpg │ │ ├── calibration_rendering.jpg │ │ ├── camera_depth_of_field_rendering.jpg │ │ ├── camera_object_pose_hb_val_3_0.jpg │ │ ├── camera_object_pose_rendering_0.jpg │ │ ├── camera_random_trajectory.gif │ │ ├── camera_sampling_rendering_0.jpg │ │ ├── camera_sampling_rendering_1.jpg │ │ ├── camera_sampling_rendering_2.jpg │ │ ├── coco_annotations_annotated.jpg │ │ ├── coco_annotations_rendering.jpg │ │ ├── combined_scene.jpg │ │ ├── debug.jpg │ │ ├── diffuse_color_image_rendering.jpg │ │ ├── dust_rendered_example.jpg │ │ ├── entity_displacement_modifier_rendering.jpg │ │ ├── entity_manipulation_rendering.jpg │ │ ├── front_3d_object_sampling.jpg │ │ ├── front_3d_rendering_0.jpg │ │ ├── front_3d_rendering_1.jpg │ │ ├── front_3d_with_improved_mat_rendering_0.jpg │ │ ├── front_3d_with_improved_mat_rendering_1.jpg │ │ ├── gif_animation_RGB.gif │ │ ├── gif_animation_Segmentation.gif │ │ ├── haven_rendered_example.jpg │ │ ├── ikea_rendered_example.jpg │ │ ├── instructions_screenshots_dmpl_model.jpg │ │ ├── instructions_screenshots_mocap_dataset_download.jpg │ │ ├── instructions_screenshots_smpl_model.jpg │ │ ├── kinect_azure_rendering_0.png │ │ ├── kinect_azure_rendering_1.png │ │ ├── lens_img0_generated.png │ │ ├── lens_img1.gif │ │ ├── lens_img1_generated.png │ │ ├── lens_img1_real.png │ │ ├── lens_img2.gif │ │ ├── lens_img2_generated.png │ │ ├── lens_img2_real.png │ │ ├── light_sampling_rendering.jpg │ │ ├── logo.svg │ │ ├── material_manipulation_rendering.jpg │ │ ├── material_manipulation_sample_texture.jpg │ │ ├── material_manipulation_sample_texture1.jpg │ │ ├── material_manipulation_sample_texture2.jpg │ │ ├── material_randomizer_rendering.jpg │ │ ├── material_randomizer_rendering_switched.jpg │ │ ├── matterport3d_rendering.jpg │ │ ├── motion_blur_rolling_shutter_motion_blur.jpg │ │ ├── motion_blur_rolling_shutter_rolling_shutter.jpg │ │ ├── multi_render.jpg │ │ ├── nocs_rendering.jpg │ │ ├── object_pose_sampling_rendering.jpg │ │ ├── on_surface_object_sampling_rendering.jpg │ │ ├── optical_flow_num_samples.jpg │ │ ├── optical_flow_num_samples_zoomed.jpg │ │ ├── optical_flow_rendering.jpg │ │ ├── physics_convex_decomposition_rendering.jpg │ │ ├── physics_positioning_rendering.jpg │ │ ├── pix3d_rendering.jpg │ │ ├── random_backgrounds_rendering.jpg │ │ ├── random_room_constructor_rendered_example.jpg │ │ ├── readme.jpg │ │ ├── rock_essentials_rendering.jpg │ │ ├── scenenet_rendering.jpg │ │ ├── scenenet_with_cctextures_rendering.jpg │ │ ├── semantic_segmentation_rendering_0.jpg │ │ ├── semantic_segmentation_rendering_1.jpg │ │ ├── shapenet_rendering.jpg │ │ ├── shapenet_with_scenenet_rendering.jpg │ │ ├── shapenet_with_suncg_rendering.jpg │ │ ├── spotlight_sampling.jpg │ │ ├── stereo_matching_color_left.jpg │ │ ├── stereo_matching_color_right.jpg │ │ ├── stereo_matching_stereo_depth.jpg │ │ ├── stereo_with_projector.png │ │ ├── suncg_basic_output-summary.jpg │ │ ├── suncg_with_cam_sampling_output-summary.jpg │ │ └── suncg_with_object_replacer_result.jpg │ ├── paper.bib │ ├── paper.md │ ├── rerun.py │ ├── resources │ │ └── README.md │ ├── setup.py │ └── tests │ │ ├── README.md │ │ ├── run_all.py │ │ ├── testCamera.py │ │ ├── testEntity.py │ │ ├── testHavenLoader.py │ │ ├── testLoader.py │ │ └── testUtility.py ├── LICENSE ├── bop_toolkit │ ├── .gitignore │ ├── .gitmodules │ ├── LICENSE │ ├── README.md │ ├── bop_toolkit_lib │ │ ├── __init__.py │ │ ├── colors.json │ │ ├── config.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_datasets_format.md │ ├── requirements.txt │ ├── scripts │ │ ├── annotation_tool.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 │ │ ├── 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_poses.py │ │ ├── vis_gt_poses.py │ │ └── vis_object_symmetries.py │ └── setup.py ├── gt.py ├── images │ ├── MYSjLJH_WZxTomV8e0svqsFnNXmG34Ff-UA8hAjpgiA.png │ └── Tq8-8E4czvfwKi_YVEXfLWlww5pJ8nNHCykLWO5qiJM.png ├── info.py ├── main_lm_upright.py ├── 华南虎工程视觉开源文档.pdf ├── 批量修改文件名工具.exe └── 渲染数据集制作.md ├── RM2023-华南理工大学-华南虎-工程视觉开源.pdf └── readme.md /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/scutrobotlab/23AutoEngineer/HEAD/.gitmodules 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