├── .gitignore ├── README.md ├── bop_toolkit ├── README.md ├── bop_toolkit_lib.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ ├── requires.txt │ └── top_level.txt ├── bop_toolkit_lib │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── config.cpython-38.pyc │ │ ├── dataset_params.cpython-38.pyc │ │ ├── inout.cpython-37.pyc │ │ ├── inout.cpython-38.pyc │ │ ├── misc.cpython-37.pyc │ │ ├── misc.cpython-38.pyc │ │ ├── pose_error.cpython-38.pyc │ │ ├── pose_matching.cpython-38.pyc │ │ ├── renderer.cpython-37.pyc │ │ ├── renderer.cpython-38.pyc │ │ ├── renderer_vispy.cpython-37.pyc │ │ ├── renderer_vispy.cpython-38.pyc │ │ ├── score.cpython-38.pyc │ │ ├── transform.cpython-37.pyc │ │ ├── transform.cpython-38.pyc │ │ ├── view_sampler.cpython-38.pyc │ │ └── visibility.cpython-38.pyc │ ├── 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 ├── generate_csv │ ├── __pycache__ │ │ ├── paths.cpython-38.pyc │ │ └── ref.cpython-38.pyc │ ├── generate_csv_4eval.py │ ├── paths.py │ └── ref.py ├── 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 │ ├── 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 ├── dataset.py ├── dataset_generate.py ├── environment.yaml ├── example ├── 1.jpg ├── 1.png ├── 2.jpg ├── 2.png └── singel_obj │ ├── 61.jpg │ ├── 62.jpg │ ├── 63.jpg │ ├── 64.jpg │ ├── 65.jpg │ ├── 66.jpg │ ├── 67.jpg │ ├── 68.jpg │ ├── 69.jpg │ ├── 70.jpg │ ├── 71.jpg │ ├── 72.jpg │ ├── 73.jpg │ ├── 74.jpg │ ├── 75.jpg │ ├── 76.jpg │ ├── 77.jpg │ ├── 78.jpg │ ├── 79.jpg │ ├── 80.jpg │ ├── 81.jpg │ ├── 83.jpg │ ├── 84.jpg │ ├── 85.jpg │ ├── 86.jpg │ ├── 87.jpg │ ├── 88.jpg │ └── 89.jpg ├── grasp_ros.py ├── image ├── all.png ├── apply.png ├── compare.png ├── generate.png ├── graspnet.png ├── grcnn.png ├── my4.png └── our.png ├── maskrcnn ├── __pycache__ │ ├── coco_eval.cpython-37.pyc │ ├── coco_utils.cpython-37.pyc │ ├── engine.cpython-37.pyc │ ├── transforms.cpython-37.pyc │ └── utils.cpython-37.pyc ├── coco_eval.py ├── coco_utils.py ├── cv2_util.py ├── engine.py ├── grasp1 │ ├── ann │ │ ├── 0.xml │ │ └── 6.xml │ └── ori │ │ ├── 0.jpg │ │ └── 6.jpg ├── test_bbox.py ├── test_mask.py ├── train_bbox.py ├── train_mask.py ├── transforms.py └── utils.py ├── model ├── __pycache__ │ ├── mixstyle.cpython-36.pyc │ ├── mixstyle.cpython-37.pyc │ ├── mixstyle.cpython-38.pyc │ ├── network_scunet.cpython-36.pyc │ ├── restnet_cbam_mixstyle.cpython-36.pyc │ ├── restnet_cbam_mixstyle.cpython-37.pyc │ ├── restnet_cbam_mixstyle.cpython-38.pyc │ ├── unet_parts.cpython-36.pyc │ ├── unet_parts.cpython-37.pyc │ └── unet_parts.cpython-38.pyc ├── mixstyle.py ├── restnet_cbam_mixstyle.py └── unet_parts.py ├── requirements.txt ├── test_with_detection.py ├── test_without_detection.py ├── tools ├── __pycache__ │ └── utils.cpython-37.pyc ├── creat_RT.py ├── creat_grasp.py ├── pybullet_dataset │ ├── mesh │ │ └── tray │ │ │ ├── sunhan.urdf │ │ │ ├── sunhan2.urdf │ │ │ ├── tray.jpg │ │ │ ├── tray.urdf │ │ │ ├── tray_textured.mtl │ │ │ ├── tray_textured.obj │ │ │ ├── tray_textured2.mtl │ │ │ ├── tray_textured2.obj │ │ │ ├── tray_textured2.urdf │ │ │ ├── tray_textured4.mtl │ │ │ ├── tray_textured4.obj │ │ │ └── traybox.urdf │ └── pybullet_dataset.py └── utils.py ├── train.py ├── train_show.py ├── utils ├── __pycache__ │ ├── aeutils.cpython-36.pyc │ ├── aeutils.cpython-37.pyc │ ├── aeutils.cpython-38.pyc │ ├── collision_detector.cpython-36.pyc │ ├── collision_detector.cpython-37.pyc │ ├── collision_detector.cpython-38.pyc │ ├── data_utils.cpython-36.pyc │ ├── eval_grasp_util.cpython-36.pyc │ ├── eval_grasp_util.cpython-37.pyc │ ├── eval_grasp_util.cpython-38.pyc │ ├── kps_heatmap.cpython-36.pyc │ ├── kps_heatmap.cpython-37.pyc │ ├── kps_heatmap.cpython-38.pyc │ ├── label_generation.cpython-36.pyc │ ├── loss_utils.cpython-36.pyc │ ├── transform.cpython-37.pyc │ └── view_sampler.cpython-37.pyc ├── aeutils.py ├── collision_detector.py ├── data_utils.py ├── eval_grasp_util.py ├── kps_heatmap.py ├── transform.py └── view_sampler.py └── work_space ├── data ├── bg_image.npy └── train_data.npz ├── exp └── model_best_9.pt ├── mesh ├── 1 │ ├── RT.npy │ ├── grasp_path_point.txt │ ├── grasp_path_point_new.txt │ ├── obj_01 │ │ ├── manifest.xml │ │ ├── meshes │ │ │ └── obj_01.STL │ │ ├── urdf │ │ │ └── obj_01.urdf │ │ └── 宝塔接头 3分14.SLDPRT │ ├── obj_1.ply │ └── obj_color_center.txt └── RT_4grasp.npy └── render.cfg /.gitignore: -------------------------------------------------------------------------------- 1 | work_space/exp/model_200.pth 2 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sunhan1997/IndusGrasp/HEAD/README.md -------------------------------------------------------------------------------- /bop_toolkit/README.md: -------------------------------------------------------------------------------- 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