├── .gitignore ├── LICENSE ├── README.md ├── bop_renderer ├── configs ├── _base_ │ ├── common_base.py │ └── gdrn_base.py ├── gdrn │ ├── hbPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_hb │ │ │ ├── 01_bear.py │ │ │ ├── 03_round_car.py │ │ │ ├── 04_thin_cow.py │ │ │ ├── 08_green_rabbit.py │ │ │ ├── 09_holepuncher.py │ │ │ ├── 10.py │ │ │ ├── 12.py │ │ │ ├── 15.py │ │ │ ├── 17.py │ │ │ ├── 18_jaffa_cakes_box.py │ │ │ ├── 19_minions.py │ │ │ ├── 22_rhinoceros.py │ │ │ ├── 23_dog.py │ │ │ ├── 29_tea_box.py │ │ │ ├── 32_car.py │ │ │ ├── 33_yellow_rabbit.py │ │ │ └── cfg_1_to_all.py │ ├── hb_pbr │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_hb.py │ ├── icbinPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_icbin │ │ │ ├── 01_coffee_cup.py │ │ │ ├── 02_juice_carton.py │ │ │ └── cfg_1_to_all.py │ ├── icbin_pbr │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_icbin.py │ ├── itoddPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_itodd │ │ │ ├── 1.py │ │ │ ├── 10.py │ │ │ ├── 11.py │ │ │ ├── 12.py │ │ │ ├── 13.py │ │ │ ├── 14.py │ │ │ ├── 15.py │ │ │ ├── 16.py │ │ │ ├── 17.py │ │ │ ├── 18.py │ │ │ ├── 19.py │ │ │ ├── 2.py │ │ │ ├── 20.py │ │ │ ├── 21.py │ │ │ ├── 22.py │ │ │ ├── 23.py │ │ │ ├── 24.py │ │ │ ├── 25.py │ │ │ ├── 26.py │ │ │ ├── 27.py │ │ │ ├── 28.py │ │ │ ├── 3.py │ │ │ ├── 4.py │ │ │ ├── 5.py │ │ │ ├── 6.py │ │ │ ├── 7.py │ │ │ ├── 8.py │ │ │ ├── 9.py │ │ │ └── cfg_1_to_all.py │ ├── itodd_pbr │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_itodd.py │ ├── lmoPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_lmo │ │ │ ├── ape.py │ │ │ ├── can.py │ │ │ ├── cat.py │ │ │ ├── cfg_1_to_all.py │ │ │ ├── driller.py │ │ │ ├── duck.py │ │ │ ├── eggbox.py │ │ │ ├── glue.py │ │ │ └── holepuncher.py │ ├── lmo_pbr │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_lmo.py │ ├── tless │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_tless.py │ ├── tlessPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_tless │ │ │ ├── 1.py │ │ │ ├── 10.py │ │ │ ├── 11.py │ │ │ ├── 12.py │ │ │ ├── 13.py │ │ │ ├── 14.py │ │ │ ├── 15.py │ │ │ ├── 16.py │ │ │ ├── 17.py │ │ │ ├── 18.py │ │ │ ├── 19.py │ │ │ ├── 2.py │ │ │ ├── 20.py │ │ │ ├── 21.py │ │ │ ├── 22.py │ │ │ ├── 23.py │ │ │ ├── 24.py │ │ │ ├── 25.py │ │ │ ├── 26.py │ │ │ ├── 27.py │ │ │ ├── 28.py │ │ │ ├── 29.py │ │ │ ├── 3.py │ │ │ ├── 30.py │ │ │ ├── 4.py │ │ │ ├── 5.py │ │ │ ├── 6.py │ │ │ ├── 7.py │ │ │ ├── 8.py │ │ │ ├── 9.py │ │ │ └── cfg_1_to_all.py │ ├── tlessSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_tless │ │ │ ├── 1.py │ │ │ ├── 10.py │ │ │ ├── 11.py │ │ │ ├── 12.py │ │ │ ├── 13.py │ │ │ ├── 14.py │ │ │ ├── 15.py │ │ │ ├── 16.py │ │ │ ├── 17.py │ │ │ ├── 18.py │ │ │ ├── 19.py │ │ │ ├── 2.py │ │ │ ├── 20.py │ │ │ ├── 21.py │ │ │ ├── 22.py │ │ │ ├── 23.py │ │ │ ├── 24.py │ │ │ ├── 25.py │ │ │ ├── 26.py │ │ │ ├── 27.py │ │ │ ├── 28.py │ │ │ ├── 29.py │ │ │ ├── 3.py │ │ │ ├── 30.py │ │ │ ├── 4.py │ │ │ ├── 5.py │ │ │ ├── 6.py │ │ │ ├── 7.py │ │ │ ├── 8.py │ │ │ ├── 9.py │ │ │ └── cfg_1_to_all.py │ ├── tudl │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_tudl.py │ ├── tudlPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_tudl │ │ │ ├── 01_dragon.py │ │ │ ├── 02_frog.py │ │ │ ├── 03_can.py │ │ │ └── cfg_1_to_all.py │ ├── tudlSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_tudl │ │ │ ├── 01_dragon.py │ │ │ ├── 02_frog.py │ │ │ ├── 03_can.py │ │ │ └── cfg_1_to_all.py │ ├── ycbv │ │ └── convnext_a6_AugCosyAAEGray_BG05_mlL1_DMask_amodalClipBox_classAware_ycbv.py │ ├── ycbvPbrSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_ycbv │ │ │ ├── 002_master_chef_can.py │ │ │ ├── 003_cracker_box.py │ │ │ ├── 004_sugar_box.py │ │ │ ├── 005_tomato_soup_can.py │ │ │ ├── 006_mustard_bottle.py │ │ │ ├── 007_tuna_fish_can.py │ │ │ ├── 008_pudding_box.py │ │ │ ├── 009_gelatin_box.py │ │ │ ├── 010_potted_meat_can.py │ │ │ ├── 011_banana.py │ │ │ ├── 019_pitcher_base.py │ │ │ ├── 021_bleach_cleanser.py │ │ │ ├── 024_bowl.py │ │ │ ├── 025_mug.py │ │ │ ├── 035_power_drill.py │ │ │ ├── 036_wood_block.py │ │ │ ├── 037_scissors.py │ │ │ ├── 040_large_marker.py │ │ │ ├── 051_large_clamp.py │ │ │ ├── 052_extra_large_clamp.py │ │ │ ├── 061_foam_brick.py │ │ │ └── cfg_1_to_all.py │ └── ycbvSO │ │ └── convnext_AugCosyAAEGray_DMask_amodalClipBox_ycbv │ │ ├── 002_master_chef_can.py │ │ ├── 003_cracker_box.py │ │ ├── 004_sugar_box.py │ │ ├── 005_tomato_soup_can.py │ │ ├── 006_mustard_bottle.py │ │ ├── 007_tuna_fish_can.py │ │ ├── 008_pudding_box.py │ │ ├── 009_gelatin_box.py │ │ ├── 010_potted_meat_can.py │ │ ├── 011_banana.py │ │ ├── 019_pitcher_base.py │ │ ├── 021_bleach_cleanser.py │ │ ├── 024_bowl.py │ │ ├── 025_mug.py │ │ ├── 035_power_drill.py │ │ ├── 036_wood_block.py │ │ ├── 037_scissors.py │ │ ├── 040_large_marker.py │ │ ├── 051_large_clamp.py │ │ ├── 052_extra_large_clamp.py │ │ ├── 061_foam_brick.py │ │ └── cfg_1_to_all.py └── yolox │ └── bop_pbr │ ├── yolox_base.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_hb_pbr_hb_test_primesense_bop19.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_icbin_pbr_icbin_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_itodd_pbr_itodd_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_lmo_pbr_lmo_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_tless_pbr_tless_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_tless_real_pbr_tless_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_tudl_pbr_tudl_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_tudl_real_pbr_tudl_bop_test.py │ ├── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_ycbv_pbr_ycbv_bop_test.py │ └── yolox_x_640_augCozyAAEhsv_ranger_30_epochs_ycbv_real_pbr_ycbv_bop_test.py ├── core ├── __init__.py ├── base_data_loader.py ├── csrc │ ├── __init__.py │ ├── compile_flow.sh │ ├── compile_fps.sh │ ├── compile_nndistance.sh │ ├── compile_ransac_voting.sh │ ├── compile_uncertianty_pnp.sh │ ├── flow │ │ ├── __init__.py │ │ ├── flow_numpy.py │ │ ├── flow_torch.py │ │ ├── setup.py │ │ ├── src │ │ │ ├── flow_cpu.cpp │ │ │ ├── flow_cuda.cpp │ │ │ └── flow_cuda_kernel.cu │ │ └── test_flow.py │ ├── fps │ │ ├── _ext.c │ │ ├── fps_utils.py │ │ ├── setup.py │ │ └── src │ │ │ ├── ext.h │ │ │ └── farthest_point_sampling.cpp │ ├── ransac_voting │ │ ├── ransac_voting_gpu.py │ │ ├── setup.py │ │ └── src │ │ │ ├── cuda_common.h │ │ │ ├── ransac_voting.cpp │ │ │ └── ransac_voting_kernel.cu │ ├── torch_nndistance │ │ ├── README.md │ │ ├── _gitignore │ │ ├── setup.py │ │ ├── src │ │ │ ├── nnd_cpu.cpp │ │ │ ├── nnd_cuda.cpp │ │ │ └── nnd_cuda_kernel.cu │ │ ├── test.py │ │ └── torch_nndistance.py │ └── uncertainty_pnp │ │ ├── _ext.c │ │ ├── build_ceres.sh │ │ ├── include │ │ ├── ceres │ │ │ ├── autodiff_cost_function.h │ │ │ ├── autodiff_local_parameterization.h │ │ │ ├── c_api.h │ │ │ ├── ceres.h │ │ │ ├── conditioned_cost_function.h │ │ │ ├── context.h │ │ │ ├── cost_function.h │ │ │ ├── cost_function_to_functor.h │ │ │ ├── covariance.h │ │ │ ├── crs_matrix.h │ │ │ ├── cubic_interpolation.h │ │ │ ├── dynamic_autodiff_cost_function.h │ │ │ ├── dynamic_cost_function.h │ │ │ ├── dynamic_cost_function_to_functor.h │ │ │ ├── dynamic_numeric_diff_cost_function.h │ │ │ ├── evaluation_callback.h │ │ │ ├── gradient_checker.h │ │ │ ├── gradient_problem.h │ │ │ ├── gradient_problem_solver.h │ │ │ ├── internal │ │ │ │ ├── autodiff.h │ │ │ │ ├── config.h │ │ │ │ ├── disable_warnings.h │ │ │ │ ├── eigen.h │ │ │ │ ├── fixed_array.h │ │ │ │ ├── manual_constructor.h │ │ │ │ ├── numeric_diff.h │ │ │ │ ├── port.h │ │ │ │ ├── reenable_warnings.h │ │ │ │ └── variadic_evaluate.h │ │ │ ├── iteration_callback.h │ │ │ ├── jet.h │ │ │ ├── local_parameterization.h │ │ │ ├── loss_function.h │ │ │ ├── normal_prior.h │ │ │ ├── numeric_diff_cost_function.h │ │ │ ├── numeric_diff_options.h │ │ │ ├── ordered_groups.h │ │ │ ├── problem.h │ │ │ ├── rotation.h │ │ │ ├── sized_cost_function.h │ │ │ ├── solver.h │ │ │ ├── tiny_solver.h │ │ │ ├── tiny_solver_autodiff_function.h │ │ │ ├── tiny_solver_cost_function_adapter.h │ │ │ ├── types.h │ │ │ └── version.h │ │ └── eigen3 │ │ │ ├── Eigen │ │ │ ├── Cholesky │ │ │ ├── CholmodSupport │ │ │ ├── Core │ │ │ ├── Dense │ │ │ ├── Eigen │ │ │ ├── Eigenvalues │ │ │ ├── Geometry │ │ │ ├── Householder │ │ │ ├── IterativeLinearSolvers │ │ │ ├── Jacobi │ │ │ ├── LU │ │ │ ├── MetisSupport │ │ │ ├── OrderingMethods │ │ │ ├── PaStiXSupport │ │ │ ├── PardisoSupport │ │ │ ├── QR │ │ │ ├── QtAlignedMalloc │ │ │ ├── SPQRSupport │ │ │ ├── SVD │ │ │ ├── Sparse │ │ │ ├── SparseCholesky │ │ │ ├── SparseCore │ │ │ ├── SparseLU │ │ │ ├── SparseQR │ │ │ ├── StdDeque │ │ │ ├── StdList │ │ │ ├── StdVector │ │ │ ├── SuperLUSupport │ │ │ ├── UmfPackSupport │ │ │ └── src │ │ │ │ ├── Cholesky │ │ │ │ ├── LDLT.h │ │ │ │ ├── LLT.h │ │ │ │ └── LLT_MKL.h │ │ │ │ ├── CholmodSupport │ │ │ │ └── CholmodSupport.h │ │ │ │ ├── Core │ │ │ │ ├── Array.h │ │ │ │ ├── ArrayBase.h │ │ │ │ ├── ArrayWrapper.h │ │ │ │ ├── Assign.h │ │ │ │ ├── AssignEvaluator.h │ │ │ │ ├── Assign_MKL.h │ │ │ │ ├── BandMatrix.h │ │ │ │ ├── Block.h │ │ │ │ ├── BooleanRedux.h │ │ │ │ ├── CommaInitializer.h │ │ │ │ ├── CoreEvaluators.h │ │ │ │ ├── CoreIterators.h │ │ │ │ ├── CwiseBinaryOp.h │ │ │ │ ├── CwiseNullaryOp.h │ │ │ │ ├── CwiseUnaryOp.h │ │ │ │ ├── CwiseUnaryView.h │ │ │ │ ├── DenseBase.h │ │ │ │ ├── DenseCoeffsBase.h │ │ │ │ ├── DenseStorage.h │ │ │ │ ├── Diagonal.h │ │ │ │ ├── DiagonalMatrix.h │ │ │ │ ├── DiagonalProduct.h │ │ │ │ ├── Dot.h │ │ │ │ ├── EigenBase.h │ │ │ │ ├── ForceAlignedAccess.h │ │ │ │ ├── Fuzzy.h │ │ │ │ ├── GeneralProduct.h │ │ │ │ ├── GenericPacketMath.h │ │ │ │ ├── GlobalFunctions.h │ │ │ │ ├── IO.h │ │ │ │ ├── Inverse.h │ │ │ │ ├── Map.h │ │ │ │ ├── MapBase.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── Matrix.h │ │ │ │ ├── MatrixBase.h │ │ │ │ ├── NestByValue.h │ │ │ │ ├── NoAlias.h │ │ │ │ ├── NumTraits.h │ │ │ │ ├── PermutationMatrix.h │ │ │ │ ├── PlainObjectBase.h │ │ │ │ ├── Product.h │ │ │ │ ├── ProductEvaluators.h │ │ │ │ ├── Random.h │ │ │ │ ├── Redux.h │ │ │ │ ├── Ref.h │ │ │ │ ├── Replicate.h │ │ │ │ ├── ReturnByValue.h │ │ │ │ ├── Reverse.h │ │ │ │ ├── Select.h │ │ │ │ ├── SelfAdjointView.h │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ ├── Solve.h │ │ │ │ ├── SolveTriangular.h │ │ │ │ ├── SolverBase.h │ │ │ │ ├── SpecialFunctions.h │ │ │ │ ├── StableNorm.h │ │ │ │ ├── Stride.h │ │ │ │ ├── Swap.h │ │ │ │ ├── Transpose.h │ │ │ │ ├── Transpositions.h │ │ │ │ ├── TriangularMatrix.h │ │ │ │ ├── VectorBlock.h │ │ │ │ ├── VectorwiseOp.h │ │ │ │ ├── Visitor.h │ │ │ │ ├── arch │ │ │ │ │ ├── AVX │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── AltiVec │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── CUDA │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── Default │ │ │ │ │ │ └── Settings.h │ │ │ │ │ ├── NEON │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ └── SSE │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── functors │ │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ │ ├── BinaryFunctors.h │ │ │ │ │ ├── NullaryFunctors.h │ │ │ │ │ ├── StlFunctors.h │ │ │ │ │ └── UnaryFunctors.h │ │ │ │ ├── products │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ │ │ │ ├── GeneralMatrixMatrix_MKL.h │ │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ │ ├── GeneralMatrixVector_MKL.h │ │ │ │ │ ├── Parallelizer.h │ │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ │ ├── SelfadjointMatrixVector_MKL.h │ │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ │ ├── TriangularMatrixMatrix_MKL.h │ │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ │ ├── TriangularMatrixVector_MKL.h │ │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ │ ├── TriangularSolverMatrix_MKL.h │ │ │ │ │ └── TriangularSolverVector.h │ │ │ │ └── util │ │ │ │ │ ├── BlasUtil.h │ │ │ │ │ ├── Constants.h │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ ├── Macros.h │ │ │ │ │ ├── Memory.h │ │ │ │ │ ├── Meta.h │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ ├── StaticAssert.h │ │ │ │ │ └── XprHelper.h │ │ │ │ ├── Eigenvalues │ │ │ │ ├── ComplexEigenSolver.h │ │ │ │ ├── ComplexSchur.h │ │ │ │ ├── ComplexSchur_MKL.h │ │ │ │ ├── EigenSolver.h │ │ │ │ ├── GeneralizedEigenSolver.h │ │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ │ ├── HessenbergDecomposition.h │ │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ │ ├── RealQZ.h │ │ │ │ ├── RealSchur.h │ │ │ │ ├── RealSchur_MKL.h │ │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ │ ├── SelfAdjointEigenSolver_MKL.h │ │ │ │ └── Tridiagonalization.h │ │ │ │ ├── Geometry │ │ │ │ ├── AlignedBox.h │ │ │ │ ├── AngleAxis.h │ │ │ │ ├── EulerAngles.h │ │ │ │ ├── Homogeneous.h │ │ │ │ ├── Hyperplane.h │ │ │ │ ├── OrthoMethods.h │ │ │ │ ├── ParametrizedLine.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Rotation2D.h │ │ │ │ ├── RotationBase.h │ │ │ │ ├── Scaling.h │ │ │ │ ├── Transform.h │ │ │ │ ├── Translation.h │ │ │ │ ├── Umeyama.h │ │ │ │ └── arch │ │ │ │ │ └── Geometry_SSE.h │ │ │ │ ├── Householder │ │ │ │ ├── BlockHouseholder.h │ │ │ │ ├── Householder.h │ │ │ │ └── HouseholderSequence.h │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ ├── BasicPreconditioners.h │ │ │ │ ├── BiCGSTAB.h │ │ │ │ ├── ConjugateGradient.h │ │ │ │ ├── IncompleteCholesky.h │ │ │ │ ├── IncompleteLUT.h │ │ │ │ ├── IterativeSolverBase.h │ │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ │ └── SolveWithGuess.h │ │ │ │ ├── Jacobi │ │ │ │ └── Jacobi.h │ │ │ │ ├── LU │ │ │ │ ├── Determinant.h │ │ │ │ ├── FullPivLU.h │ │ │ │ ├── InverseImpl.h │ │ │ │ ├── PartialPivLU.h │ │ │ │ ├── PartialPivLU_MKL.h │ │ │ │ └── arch │ │ │ │ │ └── Inverse_SSE.h │ │ │ │ ├── MetisSupport │ │ │ │ └── MetisSupport.h │ │ │ │ ├── OrderingMethods │ │ │ │ ├── Amd.h │ │ │ │ ├── Eigen_Colamd.h │ │ │ │ └── Ordering.h │ │ │ │ ├── PaStiXSupport │ │ │ │ └── PaStiXSupport.h │ │ │ │ ├── PardisoSupport │ │ │ │ └── PardisoSupport.h │ │ │ │ ├── QR │ │ │ │ ├── ColPivHouseholderQR.h │ │ │ │ ├── ColPivHouseholderQR_MKL.h │ │ │ │ ├── FullPivHouseholderQR.h │ │ │ │ ├── HouseholderQR.h │ │ │ │ └── HouseholderQR_MKL.h │ │ │ │ ├── SPQRSupport │ │ │ │ └── SuiteSparseQRSupport.h │ │ │ │ ├── SVD │ │ │ │ ├── BDCSVD.h │ │ │ │ ├── JacobiSVD.h │ │ │ │ ├── JacobiSVD_MKL.h │ │ │ │ ├── SVDBase.h │ │ │ │ └── UpperBidiagonalization.h │ │ │ │ ├── SparseCholesky │ │ │ │ ├── SimplicialCholesky.h │ │ │ │ └── SimplicialCholesky_impl.h │ │ │ │ ├── SparseCore │ │ │ │ ├── AmbiVector.h │ │ │ │ ├── CompressedStorage.h │ │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ │ ├── MappedSparseMatrix.h │ │ │ │ ├── SparseAssign.h │ │ │ │ ├── SparseBlock.h │ │ │ │ ├── SparseColEtree.h │ │ │ │ ├── SparseCompressedBase.h │ │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ │ ├── SparseDenseProduct.h │ │ │ │ ├── SparseDiagonalProduct.h │ │ │ │ ├── SparseDot.h │ │ │ │ ├── SparseFuzzy.h │ │ │ │ ├── SparseMap.h │ │ │ │ ├── SparseMatrix.h │ │ │ │ ├── SparseMatrixBase.h │ │ │ │ ├── SparsePermutation.h │ │ │ │ ├── SparseProduct.h │ │ │ │ ├── SparseRedux.h │ │ │ │ ├── SparseRef.h │ │ │ │ ├── SparseSelfAdjointView.h │ │ │ │ ├── SparseSolverBase.h │ │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ │ ├── SparseTranspose.h │ │ │ │ ├── SparseTriangularView.h │ │ │ │ ├── SparseUtil.h │ │ │ │ ├── SparseVector.h │ │ │ │ ├── SparseView.h │ │ │ │ └── TriangularSolver.h │ │ │ │ ├── SparseLU │ │ │ │ ├── SparseLU.h │ │ │ │ ├── SparseLUImpl.h │ │ │ │ ├── SparseLU_Memory.h │ │ │ │ ├── SparseLU_Structs.h │ │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ │ ├── SparseLU_Utils.h │ │ │ │ ├── SparseLU_column_bmod.h │ │ │ │ ├── SparseLU_column_dfs.h │ │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ │ ├── SparseLU_panel_bmod.h │ │ │ │ ├── SparseLU_panel_dfs.h │ │ │ │ ├── SparseLU_pivotL.h │ │ │ │ ├── SparseLU_pruneL.h │ │ │ │ └── SparseLU_relax_snode.h │ │ │ │ ├── SparseQR │ │ │ │ └── SparseQR.h │ │ │ │ ├── StlSupport │ │ │ │ ├── StdDeque.h │ │ │ │ ├── StdList.h │ │ │ │ ├── StdVector.h │ │ │ │ └── details.h │ │ │ │ ├── SuperLUSupport │ │ │ │ └── SuperLUSupport.h │ │ │ │ ├── UmfPackSupport │ │ │ │ └── UmfPackSupport.h │ │ │ │ ├── misc │ │ │ │ ├── Image.h │ │ │ │ ├── Kernel.h │ │ │ │ └── blas.h │ │ │ │ └── plugins │ │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ │ ├── BlockMethods.h │ │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ └── MatrixCwiseUnaryOps.h │ │ │ ├── signature_of_eigen3_matrix_library │ │ │ └── unsupported │ │ │ └── Eigen │ │ │ ├── AdolcForward │ │ │ ├── AlignedVector3 │ │ │ ├── ArpackSupport │ │ │ ├── AutoDiff │ │ │ ├── BVH │ │ │ ├── CXX11 │ │ │ ├── Core │ │ │ ├── Tensor │ │ │ ├── TensorSymmetry │ │ │ └── src │ │ │ │ ├── Core │ │ │ │ └── util │ │ │ │ │ ├── CXX11Meta.h │ │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ │ ├── EmulateArray.h │ │ │ │ │ └── EmulateCXX11Meta.h │ │ │ │ ├── Tensor │ │ │ │ ├── Tensor.h │ │ │ │ ├── TensorArgMax.h │ │ │ │ ├── TensorAssign.h │ │ │ │ ├── TensorBase.h │ │ │ │ ├── TensorBroadcasting.h │ │ │ │ ├── TensorChipping.h │ │ │ │ ├── TensorConcatenation.h │ │ │ │ ├── TensorContraction.h │ │ │ │ ├── TensorContractionCuda.h │ │ │ │ ├── TensorContractionThreadPool.h │ │ │ │ ├── TensorConversion.h │ │ │ │ ├── TensorConvolution.h │ │ │ │ ├── TensorCustomOp.h │ │ │ │ ├── TensorDevice.h │ │ │ │ ├── TensorDeviceCuda.h │ │ │ │ ├── TensorDeviceDefault.h │ │ │ │ ├── TensorDeviceThreadPool.h │ │ │ │ ├── TensorDimensionList.h │ │ │ │ ├── TensorDimensions.h │ │ │ │ ├── TensorEvalTo.h │ │ │ │ ├── TensorEvaluator.h │ │ │ │ ├── TensorExecutor.h │ │ │ │ ├── TensorExpr.h │ │ │ │ ├── TensorFFT.h │ │ │ │ ├── TensorFixedSize.h │ │ │ │ ├── TensorForcedEval.h │ │ │ │ ├── TensorForwardDeclarations.h │ │ │ │ ├── TensorFunctors.h │ │ │ │ ├── TensorGenerator.h │ │ │ │ ├── TensorIO.h │ │ │ │ ├── TensorImagePatch.h │ │ │ │ ├── TensorIndexList.h │ │ │ │ ├── TensorInflation.h │ │ │ │ ├── TensorInitializer.h │ │ │ │ ├── TensorIntDiv.h │ │ │ │ ├── TensorLayoutSwap.h │ │ │ │ ├── TensorMacros.h │ │ │ │ ├── TensorMap.h │ │ │ │ ├── TensorMeta.h │ │ │ │ ├── TensorMorphing.h │ │ │ │ ├── TensorPadding.h │ │ │ │ ├── TensorPatch.h │ │ │ │ ├── TensorReduction.h │ │ │ │ ├── TensorReductionCuda.h │ │ │ │ ├── TensorRef.h │ │ │ │ ├── TensorReverse.h │ │ │ │ ├── TensorShuffling.h │ │ │ │ ├── TensorStorage.h │ │ │ │ ├── TensorStriding.h │ │ │ │ ├── TensorTraits.h │ │ │ │ ├── TensorUInt128.h │ │ │ │ └── TensorVolumePatch.h │ │ │ │ └── TensorSymmetry │ │ │ │ ├── DynamicSymmetry.h │ │ │ │ ├── StaticSymmetry.h │ │ │ │ ├── Symmetry.h │ │ │ │ └── util │ │ │ │ └── TemplateGroupTheory.h │ │ │ ├── FFT │ │ │ ├── IterativeSolvers │ │ │ ├── KroneckerProduct │ │ │ ├── LevenbergMarquardt │ │ │ ├── MPRealSupport │ │ │ ├── MatrixFunctions │ │ │ ├── MoreVectorization │ │ │ ├── NonLinearOptimization │ │ │ ├── NumericalDiff │ │ │ ├── OpenGLSupport │ │ │ ├── Polynomials │ │ │ ├── Skyline │ │ │ ├── SparseExtra │ │ │ ├── Splines │ │ │ └── src │ │ │ ├── AutoDiff │ │ │ ├── AutoDiffJacobian.h │ │ │ ├── AutoDiffScalar.h │ │ │ └── AutoDiffVector.h │ │ │ ├── BVH │ │ │ ├── BVAlgorithms.h │ │ │ └── KdBVH.h │ │ │ ├── Eigenvalues │ │ │ └── ArpackSelfAdjointEigenSolver.h │ │ │ ├── FFT │ │ │ ├── ei_fftw_impl.h │ │ │ └── ei_kissfft_impl.h │ │ │ ├── IterativeSolvers │ │ │ ├── ConstrainedConjGrad.h │ │ │ ├── DGMRES.h │ │ │ ├── GMRES.h │ │ │ ├── IncompleteLU.h │ │ │ ├── IterationController.h │ │ │ ├── MINRES.h │ │ │ └── Scaling.h │ │ │ ├── KroneckerProduct │ │ │ └── KroneckerTensorProduct.h │ │ │ ├── LevenbergMarquardt │ │ │ ├── LMcovar.h │ │ │ ├── LMonestep.h │ │ │ ├── LMpar.h │ │ │ ├── LMqrsolv.h │ │ │ └── LevenbergMarquardt.h │ │ │ ├── MatrixFunctions │ │ │ ├── MatrixExponential.h │ │ │ ├── MatrixFunction.h │ │ │ ├── MatrixLogarithm.h │ │ │ ├── MatrixPower.h │ │ │ ├── MatrixSquareRoot.h │ │ │ └── StemFunction.h │ │ │ ├── MoreVectorization │ │ │ └── MathFunctions.h │ │ │ ├── NonLinearOptimization │ │ │ ├── HybridNonLinearSolver.h │ │ │ ├── LevenbergMarquardt.h │ │ │ ├── chkder.h │ │ │ ├── covar.h │ │ │ ├── dogleg.h │ │ │ ├── fdjac1.h │ │ │ ├── lmpar.h │ │ │ ├── qrsolv.h │ │ │ ├── r1mpyq.h │ │ │ ├── r1updt.h │ │ │ └── rwupdt.h │ │ │ ├── NumericalDiff │ │ │ └── NumericalDiff.h │ │ │ ├── Polynomials │ │ │ ├── Companion.h │ │ │ ├── PolynomialSolver.h │ │ │ └── PolynomialUtils.h │ │ │ ├── Skyline │ │ │ ├── SkylineInplaceLU.h │ │ │ ├── SkylineMatrix.h │ │ │ ├── SkylineMatrixBase.h │ │ │ ├── SkylineProduct.h │ │ │ ├── SkylineStorage.h │ │ │ └── SkylineUtil.h │ │ │ ├── SparseExtra │ │ │ ├── BlockOfDynamicSparseMatrix.h │ │ │ ├── BlockSparseMatrix.h │ │ │ ├── DynamicSparseMatrix.h │ │ │ ├── MarketIO.h │ │ │ ├── MatrixMarketIterator.h │ │ │ └── RandomSetter.h │ │ │ └── Splines │ │ │ ├── Spline.h │ │ │ ├── SplineFitting.h │ │ │ └── SplineFwd.h │ │ ├── setup.py │ │ ├── src │ │ ├── ext.h │ │ └── uncertainty_pnp.cpp │ │ └── un_pnp_utils.py ├── gdrn_modeling │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ ├── data_loader.py │ │ ├── data_loader_online.py │ │ ├── dataset_factory.py │ │ ├── hb_bop_test.py │ │ ├── hb_bop_val.py │ │ ├── hb_pbr.py │ │ ├── icbin_bop_test.py │ │ ├── icbin_d2.py │ │ ├── icbin_pbr.py │ │ ├── itodd_bop_test.py │ │ ├── itodd_d2.py │ │ ├── itodd_pbr.py │ │ ├── lm_pbr.py │ │ ├── lmo_bop_test.py │ │ ├── tless_bop_test.py │ │ ├── tless_d2.py │ │ ├── tless_pbr.py │ │ ├── tudl_bop_test.py │ │ ├── tudl_d2.py │ │ ├── tudl_dataset_d2.py │ │ ├── tudl_pbr.py │ │ ├── ycbv_bop_test.py │ │ ├── ycbv_d2.py │ │ └── ycbv_pbr.py │ ├── demo │ │ ├── demo_gdrn.py │ │ ├── predictor_gdrn.py │ │ └── predictor_yolo.py │ ├── engine │ │ ├── __init__.py │ │ ├── engine.py │ │ ├── engine_utils.py │ │ ├── gdrn_custom_evaluator.py │ │ ├── gdrn_evaluator.py │ │ └── test_utils.py │ ├── hvd_train_gdrn.sh │ ├── losses │ │ ├── __init__.py │ │ ├── coor_cross_entropy.py │ │ ├── l2_loss.py │ │ ├── mask_losses.py │ │ ├── pm_loss.py │ │ └── rot_loss.py │ ├── main_gdrn.py │ ├── models │ │ ├── GDRN.py │ │ ├── GDRN_Dstream_double_mask.py │ │ ├── GDRN_cls.py │ │ ├── GDRN_cls2reg.py │ │ ├── GDRN_double_mask.py │ │ ├── GDRN_no_region.py │ │ ├── __init__.py │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── mm_nets │ │ │ │ ├── __init__.py │ │ │ │ ├── base_backbone.py │ │ │ │ ├── darknet.py │ │ │ │ ├── mmcls_resnet.py │ │ │ │ ├── res_layer.py │ │ │ │ ├── resnest.py │ │ │ │ └── resnet.py │ │ │ ├── pvnet_net │ │ │ │ ├── __init__.py │ │ │ │ ├── model_repository.py │ │ │ │ └── resnet.py │ │ │ ├── resnet_backbone.py │ │ │ └── resnet_d2.py │ │ ├── fusenets │ │ │ └── conv_fuse_net.py │ │ ├── heads │ │ │ ├── __init__.py │ │ │ ├── conv_mask_xyz_region_head.py │ │ │ ├── conv_pnp_net.py │ │ │ ├── conv_pnp_net_aconc.py │ │ │ ├── conv_pnp_net_cls.py │ │ │ ├── conv_pnp_net_no_region.py │ │ │ ├── fpn_mask_xyz_region_head.py │ │ │ ├── point_pnp_net.py │ │ │ ├── top_down_doublemask_xyz_region_head.py │ │ │ ├── top_down_mask_xyz_head.py │ │ │ └── top_down_mask_xyz_region_head.py │ │ ├── model_utils.py │ │ ├── necks │ │ │ ├── __init__.py │ │ │ └── fpn.py │ │ ├── net_factory.py │ │ ├── pose_from_pred.py │ │ ├── pose_from_pred_centroid_z.py │ │ └── pose_from_pred_centroid_z_abs.py │ ├── save_gdrn.sh │ ├── test_gdrn.sh │ ├── test_gdrn_depth_refine.sh │ ├── tools │ │ ├── __init__.py │ │ ├── compute_f1_score_mask.py │ │ ├── compute_mIoU_mask.py │ │ ├── duck_frames │ │ │ ├── lmo_1_compute_fps.py │ │ │ └── lmo_pbr_so_mlBCE_Double_1_duck_frames_init_results_pkl2json.py │ │ ├── hb │ │ │ └── hb_1_compute_fps.py │ │ ├── hb_bdp │ │ │ └── hb_bdp_1_compute_fps.py │ │ ├── icbin │ │ │ ├── convert_det_to_our_format.py │ │ │ ├── icbin_1_compute_fps.py │ │ │ ├── icbin_1_compute_keypoints_3d.py │ │ │ └── icbin_pbr_1_gen_xyz.py │ │ ├── itodd │ │ │ ├── convert_det_to_our_format.py │ │ │ ├── gen_val_targets_json.py │ │ │ ├── itodd_1_compute_fps.py │ │ │ ├── itodd_1_compute_keypoints_3d.py │ │ │ ├── itodd_pbr_1_gen_xyz.py │ │ │ ├── itodd_vis_poses_full.py │ │ │ └── vis_det_itodd.py │ │ ├── lm │ │ │ ├── 1a_compare_fps_points_cpp_pytorch.py │ │ │ ├── 1b_check_fps_point_multiple_runs.py │ │ │ ├── 2_test_xyz_map_to_region.py │ │ │ ├── 2a_color_models_by_fps.py │ │ │ ├── 3a_test_render_region_models.py │ │ │ ├── 4_color_models_by_xyz.py │ │ │ ├── 5_vis_DZI.py │ │ │ ├── 5b_vis_DZI_im_ori.py │ │ │ ├── 6_vis_poses.py │ │ │ ├── 7_vis_allo_vs_ego.py │ │ │ ├── lm_1_compute_fps.py │ │ │ ├── lm_egl_1_gen_xyz.py │ │ │ ├── lm_egl_1b_verify_xyz.py │ │ │ ├── merge_lm_test_bbox_to_single_file.py │ │ │ ├── plot_activations.py │ │ │ ├── plot_region_ablation.py │ │ │ ├── plot_region_ablation_v2.py │ │ │ ├── plot_region_ablation_v4.py │ │ │ ├── plot_region_ablation_v5.py │ │ │ ├── plot_region_ablation_v6.py │ │ │ ├── plot_region_ablation_v7.py │ │ │ └── process_lm_test_bbox.py │ │ ├── lmo │ │ │ ├── 1_gen_det_lm_real_all_fuse.py │ │ │ ├── __init__.py │ │ │ ├── convert_lmo_det_to_ours.py │ │ │ ├── lmo_1_compute_fps.py │ │ │ ├── lmo_1_compute_keypoints_3d.py │ │ │ ├── lmo_2_vis_poses.py │ │ │ └── lmo_3_vis_poses_full.py │ │ ├── sphere_synt │ │ │ ├── __init__.py │ │ │ ├── plot_cPnP_vs_pnp_ransac.py │ │ │ ├── plot_cPnP_vs_pnp_ransac_vs_SingleStage.py │ │ │ ├── run_test.py │ │ │ ├── sphere_synt_0_get_mm_model.py │ │ │ ├── sphere_synt_1_compute_fps.py │ │ │ ├── sphere_synt_2_gen_pose.py │ │ │ └── sphere_synt_2b_vis_pose.py │ │ ├── tless │ │ │ ├── combine_det_pose.py │ │ │ ├── convert_det_to_our_format.py │ │ │ ├── test_eular_rotation.py │ │ │ ├── tless_1_compute_fps.py │ │ │ ├── tless_1_compute_keypoints_3d.py │ │ │ ├── tless_2_test_resize.py │ │ │ ├── tless_2b_gen_train_primesense_resize.py │ │ │ ├── tless_3_test_alignK.py │ │ │ ├── tless_3b_gen_test_alignK.py │ │ │ ├── tless_pbr_1_gen_xyz.py │ │ │ └── tless_primesense_1_gen_xyz.py │ │ ├── tudl │ │ │ ├── convert_det_to_our_format.py │ │ │ ├── tudl_1_compute_fps.py │ │ │ ├── tudl_1_compute_keypoints_3d.py │ │ │ ├── tudl_2_test_amoda_bbox_crop.py │ │ │ ├── tudl_pbr_1_gen_xyz.py │ │ │ └── tudl_vis_poses_full.py │ │ └── ycbv │ │ │ ├── __init__.py │ │ │ ├── convert_det_to_our_format.py │ │ │ ├── ycbv_1_compute_fps.py │ │ │ ├── ycbv_2_vis_poses.py │ │ │ └── ycbv_3_vis_poses_full.py │ └── train_gdrn.sh └── utils │ ├── __init__.py │ ├── apex_trainer.py │ ├── augment.py │ ├── camera_geometry.py │ ├── cat_data_utils.py │ ├── data_utils.py │ ├── dataset_utils.py │ ├── default_args_setup.py │ ├── depth_aug.py │ ├── depth_image_smoothing.py │ ├── edge_utils.py │ ├── farthest_points_torch.py │ ├── lie_algebra.py │ ├── my_checkpoint.py │ ├── my_comm.py │ ├── my_distributed_sampler.py │ ├── my_setup.py │ ├── my_visualizer.py │ ├── my_writer.py │ ├── pose_aug.py │ ├── pose_utils.py │ ├── quaternion_lf.py │ ├── rot_reps.py │ ├── solver_utils.py │ ├── ssd_color_transform.py │ ├── timm_utils.py │ ├── utils.py │ └── zoom_utils.py ├── det ├── __init__.py └── yolox │ ├── __init__.py │ ├── data │ ├── __init__.py │ ├── data_augment.py │ ├── data_prefetcher.py │ ├── dataloading.py │ ├── datasets │ │ ├── __init__.py │ │ ├── base_data_from_list.py │ │ ├── coco.py │ │ ├── coco_classes.py │ │ ├── dataset_factory.py │ │ ├── datasets_wrapper.py │ │ ├── hb_bop_test.py │ │ ├── hb_bop_val.py │ │ ├── hb_pbr.py │ │ ├── icbin_bop_test.py │ │ ├── icbin_pbr.py │ │ ├── itodd_bop_test.py │ │ ├── itodd_d2.py │ │ ├── itodd_pbr.py │ │ ├── lm_pbr.py │ │ ├── lmo_bop_test.py │ │ ├── mosaicdetection.py │ │ ├── tless_bop_test.py │ │ ├── tless_pbr.py │ │ ├── tless_primesense_train.py │ │ ├── tudl_bop_test.py │ │ ├── tudl_dataset_d2.py │ │ ├── tudl_pbr.py │ │ ├── tudl_train_real.py │ │ ├── voc.py │ │ ├── voc_classes.py │ │ ├── ycbv_bop_test.py │ │ ├── ycbv_d2.py │ │ └── ycbv_pbr.py │ └── samplers.py │ ├── engine │ ├── __init__.py │ ├── launch.py │ ├── trainer.py │ ├── yolox_inference.py │ ├── yolox_setup.py │ ├── yolox_train_test_plain.py │ └── yolox_trainer.py │ ├── evaluators │ ├── __init__.py │ ├── coco_evaluator.py │ ├── voc_eval.py │ ├── voc_evaluator.py │ └── yolox_coco_evaluator.py │ ├── exp │ ├── __init__.py │ ├── base_exp.py │ ├── build.py │ └── yolox_base.py │ ├── exps │ ├── default │ │ ├── nano.py │ │ ├── yolov3.py │ │ ├── yolox_l.py │ │ ├── yolox_m.py │ │ ├── yolox_s.py │ │ ├── yolox_tiny.py │ │ └── yolox_x.py │ └── example │ │ ├── custom │ │ ├── nano.py │ │ └── yolox_s.py │ │ └── yolox_voc │ │ └── yolox_voc_s.py │ ├── models │ ├── __init__.py │ ├── darknet.py │ ├── losses.py │ ├── network_blocks.py │ ├── yolo_fpn.py │ ├── yolo_head.py │ ├── yolo_pafpn.py │ └── yolox.py │ ├── tools │ ├── convert_trt.py │ ├── demo.py │ ├── eval.py │ ├── export_onnx.py │ ├── export_torchscript.py │ ├── main_yolox.py │ ├── plain_main_yolox.py │ ├── test_yolox.sh │ ├── train.py │ ├── train_yolox.sh │ └── trt.py │ └── utils │ ├── __init__.py │ ├── allreduce_norm.py │ ├── boxes.py │ ├── checkpoint.py │ ├── convert_lmo_det.py │ ├── demo_utils.py │ ├── dist.py │ ├── ema.py │ ├── logger.py │ ├── lr_scheduler.py │ ├── metric.py │ ├── model_utils.py │ ├── setup_env.py │ └── visualize.py ├── docs ├── INSTALL.md ├── INSTALL_apex.md ├── INSTALL_horovod.md ├── INSTALL_libassimp_ubuntu18_04.md ├── INSTALL_tensorrt.md └── increase_hard_limit_of_open_files.md ├── lib ├── __init__.py ├── egl_renderer │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── __init__.py │ ├── compile_cpp_egl_renderer.sh │ ├── cpp │ │ ├── egl_renderer.cpp │ │ ├── query_devices.cpp │ │ └── test_device.cpp │ ├── egl_include │ │ ├── EGL │ │ │ ├── egl.h │ │ │ ├── eglext.h │ │ │ ├── eglextchromium.h │ │ │ ├── eglmesaext.h │ │ │ └── eglplatform.h │ │ ├── GL │ │ │ ├── gl.h │ │ │ ├── glcorearb.h │ │ │ ├── glew.h │ │ │ ├── glext.h │ │ │ ├── glu.h │ │ │ ├── glu_mangle.h │ │ │ ├── glx.h │ │ │ ├── glxew.h │ │ │ ├── glxext.h │ │ │ ├── glxint.h │ │ │ ├── glxmd.h │ │ │ ├── glxproto.h │ │ │ ├── glxtokens.h │ │ │ ├── internal │ │ │ │ ├── dri_interface.h │ │ │ │ └── glcore.h │ │ │ └── wglew.h │ │ └── KHR │ │ │ └── khrplatform.h │ ├── egl_renderer.py │ ├── egl_renderer_v2.py │ ├── egl_renderer_v3.py │ ├── get_available_devices.py │ ├── glutils │ │ ├── __init__.py │ │ ├── egl_offscreen_context.py │ │ ├── glcontext.py │ │ ├── glrenderer.py │ │ ├── meshutil.py │ │ └── utils.py │ ├── pybind11 │ │ ├── .appveyor.yml │ │ ├── .gitignore │ │ ├── .gitmodules │ │ ├── .readthedocs.yml │ │ ├── .travis.yml │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── ISSUE_TEMPLATE.md │ │ ├── LICENSE │ │ ├── MANIFEST.in │ │ ├── README.md │ │ ├── docs │ │ │ ├── Doxyfile │ │ │ ├── _static │ │ │ │ └── theme_overrides.css │ │ │ ├── advanced │ │ │ │ ├── cast │ │ │ │ │ ├── chrono.rst │ │ │ │ │ ├── custom.rst │ │ │ │ │ ├── eigen.rst │ │ │ │ │ ├── functional.rst │ │ │ │ │ ├── index.rst │ │ │ │ │ ├── overview.rst │ │ │ │ │ ├── stl.rst │ │ │ │ │ └── strings.rst │ │ │ │ ├── classes.rst │ │ │ │ ├── embedding.rst │ │ │ │ ├── exceptions.rst │ │ │ │ ├── functions.rst │ │ │ │ ├── misc.rst │ │ │ │ ├── pycpp │ │ │ │ │ ├── index.rst │ │ │ │ │ ├── numpy.rst │ │ │ │ │ ├── object.rst │ │ │ │ │ └── utilities.rst │ │ │ │ └── smart_ptrs.rst │ │ │ ├── basics.rst │ │ │ ├── benchmark.py │ │ │ ├── benchmark.rst │ │ │ ├── changelog.rst │ │ │ ├── classes.rst │ │ │ ├── compiling.rst │ │ │ ├── conf.py │ │ │ ├── faq.rst │ │ │ ├── index.rst │ │ │ ├── intro.rst │ │ │ ├── limitations.rst │ │ │ ├── pybind11_vs_boost_python1.svg │ │ │ ├── pybind11_vs_boost_python2.svg │ │ │ ├── reference.rst │ │ │ ├── release.rst │ │ │ ├── requirements.txt │ │ │ └── upgrade.rst │ │ ├── include │ │ │ └── pybind11 │ │ │ │ ├── attr.h │ │ │ │ ├── buffer_info.h │ │ │ │ ├── cast.h │ │ │ │ ├── chrono.h │ │ │ │ ├── common.h │ │ │ │ ├── complex.h │ │ │ │ ├── detail │ │ │ │ ├── class.h │ │ │ │ ├── common.h │ │ │ │ ├── descr.h │ │ │ │ ├── init.h │ │ │ │ ├── internals.h │ │ │ │ └── typeid.h │ │ │ │ ├── eigen.h │ │ │ │ ├── embed.h │ │ │ │ ├── eval.h │ │ │ │ ├── functional.h │ │ │ │ ├── iostream.h │ │ │ │ ├── numpy.h │ │ │ │ ├── operators.h │ │ │ │ ├── options.h │ │ │ │ ├── pybind11.h │ │ │ │ ├── pytypes.h │ │ │ │ ├── stl.h │ │ │ │ └── stl_bind.h │ │ ├── pybind11 │ │ │ ├── __init__.py │ │ │ ├── __main__.py │ │ │ └── _version.py │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── conftest.py │ │ │ ├── constructor_stats.h │ │ │ ├── cross_module_gil_utils.cpp │ │ │ ├── local_bindings.h │ │ │ ├── object.h │ │ │ ├── pybind11_cross_module_tests.cpp │ │ │ ├── pybind11_tests.cpp │ │ │ ├── pybind11_tests.h │ │ │ ├── pytest.ini │ │ │ ├── test_async.cpp │ │ │ ├── test_async.py │ │ │ ├── test_buffers.cpp │ │ │ ├── test_buffers.py │ │ │ ├── test_builtin_casters.cpp │ │ │ ├── test_builtin_casters.py │ │ │ ├── test_call_policies.cpp │ │ │ ├── test_call_policies.py │ │ │ ├── test_callbacks.cpp │ │ │ ├── test_callbacks.py │ │ │ ├── test_chrono.cpp │ │ │ ├── test_chrono.py │ │ │ ├── test_class.cpp │ │ │ ├── test_class.py │ │ │ ├── test_cmake_build │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── embed.cpp │ │ │ │ ├── installed_embed │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── installed_function │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── installed_target │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── main.cpp │ │ │ │ ├── subdirectory_embed │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── subdirectory_function │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── subdirectory_target │ │ │ │ │ └── CMakeLists.txt │ │ │ │ └── test.py │ │ │ ├── test_constants_and_functions.cpp │ │ │ ├── test_constants_and_functions.py │ │ │ ├── test_copy_move.cpp │ │ │ ├── test_copy_move.py │ │ │ ├── test_docstring_options.cpp │ │ │ ├── test_docstring_options.py │ │ │ ├── test_eigen.cpp │ │ │ ├── test_eigen.py │ │ │ ├── test_embed │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── catch.cpp │ │ │ │ ├── external_module.cpp │ │ │ │ ├── test_interpreter.cpp │ │ │ │ └── test_interpreter.py │ │ │ ├── test_enum.cpp │ │ │ ├── test_enum.py │ │ │ ├── test_eval.cpp │ │ │ ├── test_eval.py │ │ │ ├── test_eval_call.py │ │ │ ├── test_exceptions.cpp │ │ │ ├── test_exceptions.py │ │ │ ├── test_factory_constructors.cpp │ │ │ ├── test_factory_constructors.py │ │ │ ├── test_gil_scoped.cpp │ │ │ ├── test_gil_scoped.py │ │ │ ├── test_iostream.cpp │ │ │ ├── test_iostream.py │ │ │ ├── test_kwargs_and_defaults.cpp │ │ │ ├── test_kwargs_and_defaults.py │ │ │ ├── test_local_bindings.cpp │ │ │ ├── test_local_bindings.py │ │ │ ├── test_methods_and_attributes.cpp │ │ │ ├── test_methods_and_attributes.py │ │ │ ├── test_modules.cpp │ │ │ ├── test_modules.py │ │ │ ├── test_multiple_inheritance.cpp │ │ │ ├── test_multiple_inheritance.py │ │ │ ├── test_numpy_array.cpp │ │ │ ├── test_numpy_array.py │ │ │ ├── test_numpy_dtypes.cpp │ │ │ ├── test_numpy_dtypes.py │ │ │ ├── test_numpy_vectorize.cpp │ │ │ ├── test_numpy_vectorize.py │ │ │ ├── test_opaque_types.cpp │ │ │ ├── test_opaque_types.py │ │ │ ├── test_operator_overloading.cpp │ │ │ ├── test_operator_overloading.py │ │ │ ├── test_pickling.cpp │ │ │ ├── test_pickling.py │ │ │ ├── test_pytypes.cpp │ │ │ ├── test_pytypes.py │ │ │ ├── test_sequences_and_iterators.cpp │ │ │ ├── test_sequences_and_iterators.py │ │ │ ├── test_smart_ptr.cpp │ │ │ ├── test_smart_ptr.py │ │ │ ├── test_stl.cpp │ │ │ ├── test_stl.py │ │ │ ├── test_stl_binders.cpp │ │ │ ├── test_stl_binders.py │ │ │ ├── test_tagbased_polymorphic.cpp │ │ │ ├── test_tagbased_polymorphic.py │ │ │ ├── test_union.cpp │ │ │ ├── test_union.py │ │ │ ├── test_virtual_functions.cpp │ │ │ └── test_virtual_functions.py │ │ └── tools │ │ │ ├── FindCatch.cmake │ │ │ ├── FindEigen3.cmake │ │ │ ├── FindPythonLibsNew.cmake │ │ │ ├── check-style.sh │ │ │ ├── libsize.py │ │ │ ├── mkdoc.py │ │ │ ├── pybind11Config.cmake.in │ │ │ └── pybind11Tools.cmake │ ├── setup.py │ └── shader │ │ ├── background.frag │ │ ├── background.vs │ │ ├── shader_bbox.frag │ │ ├── shader_bbox.vs │ │ ├── shader_material.frag │ │ ├── shader_material.vs │ │ ├── shader_simple.frag │ │ ├── shader_simple.vs │ │ ├── shader_textureless_texture.frag │ │ └── shader_textureless_texture.vs ├── meshrenderer │ ├── __init__.py │ ├── gl_utils │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── camera_old.py │ │ ├── ebo.py │ │ ├── egl_offscreen_context.py │ │ ├── fbo.py │ │ ├── geometry.py │ │ ├── glcontext.py │ │ ├── glfw_offscreen_context.py │ │ ├── glrenderer.py │ │ ├── ibo.py │ │ ├── material.py │ │ ├── meshutil.py │ │ ├── renderbuffer.py │ │ ├── shader.py │ │ ├── shader_storage_buffer.py │ │ ├── texture.py │ │ ├── tiles.py │ │ ├── utils.py │ │ ├── vao.py │ │ ├── vertexbuffer.py │ │ └── window.py │ ├── meshrenderer_texture_color.py │ ├── meshrenderer_texture_color_tensor.py │ ├── scenerenderer.py │ ├── shader │ │ ├── cad_shader.frag │ │ ├── cad_shader.vs │ │ ├── cad_shader_4.frag │ │ ├── cad_shader_4.vs │ │ ├── depth_shader_phong.frag │ │ ├── depth_shader_phong.vs │ │ ├── depth_shader_phong_color.frag │ │ ├── depth_shader_phong_color.vs │ │ ├── depth_shader_phong_color_4.frag │ │ ├── depth_shader_phong_color_4.vs │ │ ├── depth_shader_textureless_texture.frag │ │ ├── depth_shader_textureless_texture.vs │ │ ├── depth_shader_textureless_texture_4.frag │ │ ├── depth_shader_textureless_texture_4.vs │ │ ├── line.frag │ │ └── line.vs │ └── write_xml.py ├── pysixd │ ├── README.md │ ├── README_bop_toolkit.md │ ├── RT_transform.py │ ├── __init__.py │ ├── bop_challenge_2019_re-evaluation_27-01-2020.md │ ├── bop_datasets_format.md │ ├── colors.json │ ├── comparative_report.py │ ├── config.py │ ├── dataset_params.py │ ├── dataset_params_sixd.py │ ├── eval_calc_errors.py │ ├── eval_loc.py │ ├── eval_loc_origin.py │ ├── eval_plots.py │ ├── eval_sixd_results.py │ ├── eval_sixd_results.sh │ ├── eval_template.cfg │ ├── eval_utils.py │ ├── gen_lmo_test_targets_on_benchvise_test_json.py │ ├── inout.py │ ├── latex_report.py │ ├── lmo_test_targets_benchvise_test.json │ ├── misc.py │ ├── obj_mesh.py │ ├── pose_error.py │ ├── pose_error_more.py │ ├── pose_matching.py │ ├── pycoco_utils.py │ ├── renderer.py │ ├── renderer_cpp.py │ ├── renderer_glumpy.py │ ├── renderer_py.py │ ├── renderer_pyrender.py │ ├── renderer_vispy.py │ ├── result_format.md │ ├── score.py │ ├── scripts │ │ ├── calc_coco_gt.py │ │ ├── calc_gt_distribution.py │ │ ├── calc_gt_info.py │ │ ├── calc_gt_masks.py │ │ ├── eval_bop19.py │ │ ├── eval_calc_errors.py │ │ ├── eval_calc_scores.py │ │ ├── eval_pose_results_more.py │ │ ├── show_performance_bop19.py │ │ └── vis_gt_poses.py │ ├── se3.py │ ├── test_set_bb8_sixd.yml │ ├── tools │ │ ├── hb │ │ │ ├── gen_hb_val_targets_all.py │ │ │ ├── gen_hb_val_targets_bop19_json.py │ │ │ ├── hb_val_targets_all.json │ │ │ └── hb_val_targets_bop19.json │ │ ├── itodd │ │ │ ├── gen_itodd_val_targets_all.py │ │ │ └── itodd_val_targets_all.json │ │ ├── lm │ │ │ ├── gen_linemod_test_set_bb8_yaml.py │ │ │ ├── gen_lm_test_targets_bb8_json.py │ │ │ └── lm_test_targets_bb8.json │ │ ├── lmo │ │ │ ├── gen_lmo_test_targets_on_benchvise_test_json.py │ │ │ └── lmo_test_targets_benchvise_test.json │ │ └── ycbv │ │ │ ├── gen_ycbv_test_targets_all_json.py │ │ │ ├── gen_ycbv_test_targets_keyframe_json.py │ │ │ ├── ycbv_test_targets_all.json │ │ │ └── ycbv_test_targets_keyframe.json │ ├── transform.py │ ├── uv_projection.py │ ├── view_sampler.py │ ├── visibility.py │ └── visualization.py ├── render_vispy │ ├── __init__.py │ ├── frustum.py │ ├── model3d.py │ ├── renderer.py │ └── shader │ │ ├── background.frag │ │ ├── background.vs │ │ ├── bbox.frag │ │ ├── colored.frag │ │ ├── colored.vs │ │ ├── point_cloud.frag │ │ ├── point_cloud.vs │ │ ├── textured.frag │ │ └── textured.vs ├── structures │ ├── __init__.py │ ├── centers_2d.py │ ├── keypoints_2d.py │ ├── keypoints_3d.py │ ├── my_list.py │ ├── my_maps.py │ ├── my_masks.py │ ├── poses.py │ ├── quats.py │ ├── rots.py │ └── translations.py ├── torch_utils │ ├── __init__.py │ ├── color │ │ ├── __init__.py │ │ ├── gray.py │ │ ├── hls.py │ │ ├── hsv.py │ │ ├── lab.py │ │ ├── luv.py │ │ ├── rgb.py │ │ ├── xyz.py │ │ ├── ycbcr.py │ │ └── yuv.py │ ├── layers │ │ ├── __init__.py │ │ ├── acon.py │ │ ├── activations_me.py │ │ ├── conv_module.py │ │ ├── coord_attention.py │ │ ├── dropblock │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── dropblock.py │ │ │ └── scheduler.py │ │ ├── layer_utils.py │ │ ├── mean_conv_deconv.py │ │ └── std_conv_transpose.py │ ├── misc.py │ ├── solver │ │ ├── AdaBelief.py │ │ ├── __init__.py │ │ ├── adamp.py │ │ ├── badam.py │ │ ├── grad_clip_d2.py │ │ ├── lookahead.py │ │ ├── lr_scheduler.py │ │ ├── madgrad.py │ │ ├── nadamw.py │ │ ├── optimize.py │ │ ├── over9000.py │ │ ├── radam.py │ │ ├── ralamb.py │ │ ├── ranger.py │ │ ├── ranger2020.py │ │ ├── ranger21.py │ │ ├── ranger_adabelief.py │ │ ├── rmsprop_tf.py │ │ ├── sgd_gc.py │ │ └── sgdp.py │ └── torch_utils.py ├── utils │ ├── __init__.py │ ├── bbox_utils.py │ ├── config_utils.py │ ├── fs.py │ ├── is_binary_file.py │ ├── logger.py │ ├── mask_utils.py │ ├── setup_logger.py │ ├── setup_logger_loguru.py │ ├── time_utils.py │ └── utils.py └── vis_utils │ ├── __init__.py │ ├── cmap_plt2cv.py │ ├── colormap.py │ ├── image.py │ └── optflow.py ├── ref ├── __init__.py ├── hb.py ├── hb_bop19.py ├── icbin.py ├── itodd.py ├── lm_full.py ├── lmo_full.py ├── tless.py ├── tudl.py └── ycbv.py ├── requirements └── requirements.txt ├── scripts ├── compile_all.sh ├── init_env.sh └── install_deps.sh └── tools ├── merge_bop_single_obj_results.py ├── process_bop_results_time.py 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