├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── bop_toolkit_lib ├── __init__.py ├── call_vsd_worker.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 ├── misc_torch.py ├── pose_error.py ├── pose_error_gpu.py ├── pose_error_htt.py ├── pose_matching.py ├── pycoco_utils.py ├── rendering │ ├── renderer.py │ ├── renderer_batch.py │ ├── renderer_cpp.py │ ├── renderer_htt.py │ ├── renderer_py.py │ └── renderer_vispy.py ├── score.py ├── tests │ ├── README.md │ ├── create_all_gt_files.sh │ ├── data │ │ └── results_sub │ │ │ ├── cnos-fastsammegapose_icbin-test_7c9f443f-b900-41bb-af01-09b8eddfc2c4.csv │ │ │ ├── cnos-fastsammegapose_lmo-test_16ab01bd-f020-4194-9750-d42fc7f875d2.csv │ │ │ ├── cnos-fastsammegapose_tless-test_94e046a0-42af-495f-8a35-11ce8ee6f217.csv │ │ │ ├── cnos-fastsammegapose_tudl-test_1328490c-bf88-46ce-a12c-a5e5a7712220.csv │ │ │ ├── cnos-fastsammegapose_ycbv-test_8fe0af14-16e3-431a-83e7-df00e93828a6.csv │ │ │ ├── gdrnppdet-pbrreal_ycbv-test_abe6c5f1-cb26-4bbd-addc-bb76dd722a96.json.gz │ │ │ ├── gt-pbrreal-rgb-mmodel_lmo-test_lmo.csv │ │ │ ├── gt-pbrreal-rgb-mmodel_tless-test_tless.csv │ │ │ ├── unittest-minVisib0_lmo-test_16ab01bd-f020-4194-9750-d42fc7f875d2.csv │ │ │ ├── unittest-minVisib0_tless-test_16ab01bd-f020-4194-9750-d42fc7f875d2.csv │ │ │ └── zebraposesat-effnetb4_ycbv-test_5ed0eecc-96f8-498b-9438-d586d4d92528.json │ ├── eval_bop19_pose_test.py │ ├── eval_bop22_coco_test.py │ ├── eval_bop24_pose_test.py │ ├── run_time_detection_tasks.png │ ├── run_time_localization_tasks.png │ ├── test_inout.py │ ├── test_misc.py │ └── test_pose_errors.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 ├── package.xml ├── pyproject.toml ├── resource └── bop_toolkit_lib ├── scripts ├── annotation_tool │ ├── README.md │ ├── annotation_tool.py │ ├── assemble_cloud.py │ ├── images │ │ ├── keyboard.png │ │ └── teaser.gif │ └── project_6d_annotations.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 ├── count_visib_instances.py ├── create_coco_results_file_from_gt.py ├── create_pose_results_file_from_gt.py ├── crop_image_and_gt.py ├── enumerate_test_targets.py ├── eval_bop19_pose.py ├── eval_bop22_coco.py ├── eval_bop24_pose.py ├── eval_calc_errors.py ├── eval_calc_errors_gpu.py ├── eval_calc_scores.py ├── make_dataset_public.py ├── meshlab_scripts │ ├── remesh_for_eval_cell=0.25.mlx │ └── remesh_for_eval_cell=0.5.mlx ├── remesh_models_for_eval.py ├── 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