├── .clang-format ├── .gitattributes ├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── config_yann.yaml ├── cosypose ├── __init__.py ├── bop_config.py ├── config.py ├── csrc │ └── cosypose_cext.cpp ├── datasets │ ├── __init__.py │ ├── augmentations.py │ ├── bop.py │ ├── bop_object_datasets.py │ ├── datasets_cfg.py │ ├── detection_dataset.py │ ├── pose_dataset.py │ ├── samplers.py │ ├── synthetic_dataset.py │ ├── texture_dataset.py │ ├── urdf_dataset.py │ ├── utils.py │ └── wrappers │ │ ├── __init__.py │ │ ├── augmentation_wrapper.py │ │ ├── base.py │ │ ├── multiview_wrapper.py │ │ └── visibility_wrapper.py ├── evaluation │ ├── __init__.py │ ├── data_utils.py │ ├── eval_runner │ │ ├── __init__.py │ │ ├── detection_eval.py │ │ └── pose_eval.py │ ├── meters │ │ ├── __init__.py │ │ ├── base.py │ │ ├── detection_meters.py │ │ ├── pose_meters.py │ │ └── utils.py │ ├── pred_runner │ │ ├── __init__.py │ │ ├── bop_predictions.py │ │ ├── detections.py │ │ └── multiview_predictions.py │ └── runner_utils.py ├── integrated │ ├── __init__.py │ ├── detector.py │ ├── icp_refiner.py │ ├── multiview_predictor.py │ └── pose_predictor.py ├── lib3d │ ├── __init__.py │ ├── camera_geometry.py │ ├── cosypose_ops.py │ ├── cropping.py │ ├── distances.py │ ├── mesh_losses.py │ ├── mesh_ops.py │ ├── rigid_mesh_database.py │ ├── rotations.py │ ├── symmetric_distances.py │ ├── symmetries.py │ ├── transform.py │ └── transform_ops.py ├── libmesh │ ├── __init__.py │ ├── meshlab_converter.py │ ├── meshlab_templates │ │ ├── template_add_uv.mlx │ │ ├── template_downsample.mlx │ │ ├── template_downsample_textures.mlx │ │ ├── template_ply_texture_to_obj.mlx │ │ ├── template_remesh_marchingcubes.mlx │ │ ├── template_remesh_poisson.mlx │ │ ├── template_sample_points.mlx │ │ ├── template_transfer_texture.mlx │ │ └── template_vertexcolor_to_texture.mlx │ └── urdf_utils.py ├── models │ ├── __init__.py │ ├── efficientnet.py │ ├── efficientnet_utils.py │ ├── flownet.py │ ├── mask_rcnn.py │ ├── pose.py │ └── wide_resnet.py ├── multiview │ ├── bundle_adjustment.py │ └── ransac.py ├── recording │ ├── __init__.py │ ├── bop_recording_scene.py │ ├── record_chunk.py │ └── record_dataset.py ├── rendering │ ├── bullet_batch_renderer.py │ └── bullet_scene_renderer.py ├── scripts │ ├── __init__.py │ ├── convert_models_to_urdf.py │ ├── download.py │ ├── example_multigpu.py │ ├── make_ycbv_compat_models.py │ ├── preprocess_bop_dataset.py │ ├── run_bop20_eval.py │ ├── run_bop20_eval_multi.py │ ├── run_bop_eval.py │ ├── run_bop_inference.py │ ├── run_colmap_reconstruction.py │ ├── run_cosypose_eval.py │ ├── run_custom_scenario.py │ ├── run_dataset_recording.py │ ├── run_detection_eval.py │ ├── run_detector_training.py │ ├── run_pose_training.py │ ├── test_dataset.py │ └── test_render_objects.py ├── simulator │ ├── __init__.py │ ├── base_scene.py │ ├── body.py │ ├── caching.py │ ├── camera.py │ ├── client.py │ └── textures.py ├── training │ ├── detector_models_cfg.py │ ├── maskrcnn_forward_loss.py │ ├── pose_forward_loss.py │ ├── pose_models_cfg.py │ ├── train_detector.py │ └── train_pose.py ├── utils │ ├── __init__.py │ ├── colmap_read_write_model.py │ ├── distributed.py │ ├── extensions.py │ ├── logging.py │ ├── logs_bokeh.py │ ├── multiepoch_dataloader.py │ ├── random.py │ ├── resources.py │ ├── tensor_collection.py │ ├── timer.py │ ├── tqdm.py │ └── xarray.py └── visualization │ ├── bokeh_utils.py │ ├── multiview.py │ ├── plotter.py │ └── singleview.py ├── data ├── .gitattributes └── assets │ ├── cage │ ├── cage.urdf │ └── plane.obj │ ├── camera │ ├── camera_mesh.obj │ ├── cube.obj │ ├── model.urdf │ └── model.urdf.tmp │ ├── cube │ ├── cube.urdf │ ├── model.urdf │ ├── model_vhacd.obj │ └── part0.obj │ ├── plane │ ├── plane.obj │ └── plane.urdf │ └── sphere │ ├── sphere2red.urdf │ ├── sphere_smooth.mtl │ └── sphere_smooth.obj ├── environment.yaml ├── images ├── .gitignore ├── bop_datasets.png ├── example_predictions.png ├── multiview.png ├── screenshot_logs.png ├── screenshot_plots_cosypose.png └── synthetic_images.png ├── job-runner-config.yaml ├── job-runner-preamble.sh ├── notebooks ├── .gitignore ├── gifs │ ├── scene_ds=tless.primesense.test.bop19-scene=16-nviews=8-scene_group=105.gif │ └── scene_ds=ycbv.test.keyframes-scene=55-nviews=5-scene_group=334.gif ├── inspect_dataset.ipynb ├── make_ycbv_per_object.ipynb ├── paper_training_logs.ipynb ├── render_dataset.ipynb ├── visualize_multiview_predictions.ipynb └── visualize_singleview_predictions.ipynb ├── rclone.conf ├── setup.py └── tox.ini /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ylabbe/cosypose/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ylabbe/cosypose/HEAD/.gitattributes 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