├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── assets └── demo.gif ├── backup └── deeplm_init_backup.py ├── configs ├── config.yaml ├── experiment │ ├── inference_LINEMOD.yaml │ ├── inference_demo.yaml │ ├── inference_onepose.yaml │ ├── inference_onepose_lowtexture.yaml │ └── train.yaml └── preprocess │ ├── merge_annotation_train.yaml │ ├── merge_annotation_val.yaml │ ├── sfm_demo.yaml │ ├── sfm_inference_LINEMOD.yaml │ ├── sfm_inference_lowtexture.yaml │ ├── sfm_inference_onepose.yaml │ ├── sfm_inference_onepose_val.yaml │ └── sfm_train_data.yaml ├── demo.py ├── doc ├── dataset_document.md └── demo.md ├── environment.yaml ├── inference.py ├── merge.py ├── parse_lm_real_data.py ├── parse_scanned_data.py ├── requirements.txt ├── run.py ├── scripts ├── demo_pipeline.sh └── parse_linemod_objs.sh ├── src ├── KeypointFreeSfM │ ├── __init__.py │ ├── coarse_match │ │ ├── coarse_match.py │ │ ├── coarse_match_worker.py │ │ └── utils.py │ ├── coarse_sfm │ │ └── coarse_sfm_runner.py │ ├── dataset │ │ ├── coarse_colmap_dataset.py │ │ └── loftr_coarse_dataset.py │ ├── loftr_for_sfm │ │ ├── __init__.py │ │ ├── loftr.py │ │ └── utils │ │ │ ├── loftr_for_onepose_plus_cfg.py │ │ │ └── sample_feature_from_featuremap.py │ └── post_optimization │ │ ├── data_construct │ │ ├── __init__.py │ │ ├── construct_matching_data.py │ │ └── construct_optimization_data.py │ │ ├── feature_aggregation.py │ │ ├── matcher_model │ │ ├── __init__.py │ │ ├── fine_match.py │ │ └── fine_match_worker.py │ │ ├── optimizer │ │ ├── __init__.py │ │ ├── first_order_solver.py │ │ ├── optimizer.py │ │ ├── residual.py │ │ └── residual_utils.py │ │ ├── post_optimization.py │ │ └── utils │ │ ├── __init__.py │ │ ├── geometry_utils.py │ │ ├── io_utils.py │ │ ├── ray_utils.py │ │ └── vis3d.py ├── callbacks │ ├── custom_callbacks.py │ └── wandb_callbacks.py ├── datamodules │ └── OnePosePlus_datamodule.py ├── datasets │ ├── OnePosePlus_dataset.py │ └── OnePosePlus_inference_dataset.py ├── inference │ ├── __init__.py │ ├── inference_OnePosePlus.py │ └── inference_OnePosePlus_worker.py ├── lightning_model │ ├── OnePosePlus_lightning_model.py │ └── losses.py ├── local_feature_object_detector │ ├── __init__.py │ └── local_feature_2D_detector.py ├── models │ └── OnePosePlus │ │ ├── OnePosePlusModel.py │ │ ├── __init__.py │ │ ├── backbone │ │ ├── __init__.py │ │ └── resnet.py │ │ ├── loftr_module │ │ ├── __init__.py │ │ ├── fine_preprocess.py │ │ ├── linear_attention.py │ │ └── transformer.py │ │ ├── optimizers │ │ └── optimizers.py │ │ └── utils │ │ ├── __init__.py │ │ ├── coarse_matching.py │ │ ├── fine_matching.py │ │ ├── fine_supervision.py │ │ ├── normalize.py │ │ └── position_encoding.py ├── sfm_utils │ ├── __init__.py │ ├── generate_empty.py │ ├── global_ba.py │ ├── pairs_exhaustive_all.py │ ├── pairs_from_index.py │ ├── pairs_from_poses.py │ ├── postprocess │ │ ├── feature_process.py │ │ ├── filter_points.py │ │ └── filter_tkl.py │ └── triangulation.py └── utils │ ├── colmap │ ├── database.py │ ├── eval_helper.py │ └── read_write_model.py │ ├── comm.py │ ├── data_io.py │ ├── data_utils.py │ ├── metric_utils.py │ ├── misc.py │ ├── model_io.py │ ├── path_utils.py │ ├── plot_utils.py │ ├── profiler.py │ ├── ray_utils.py │ ├── sample_homo.py │ ├── sample_points_on_cad.py │ ├── template_utils.py │ ├── utils_phoaug.py │ ├── vis_utils.py │ └── weight_init.py └── train_onepose_plus.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zju3dv/OnePose_Plus_Plus/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zju3dv/OnePose_Plus_Plus/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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