SYMBOL INDEX (1087 symbols across 83 files)

FILE: builder/dataset_builder.py
  function build (line 8) | def build(input_reader_config,

FILE: builder/input_reader_builder.py
  class DatasetWrapper (line 7) | class DatasetWrapper(Dataset):
    method __init__ (line 11) | def __init__(self, dataset):
    method __len__ (line 14) | def __len__(self):
    method __getitem__ (line 17) | def __getitem__(self, idx):
    method dataset (line 21) | def dataset(self):
  function build (line 25) | def build(input_reader_config,

FILE: builder/losses_builder.py
  function build (line 4) | def build(loss_config):

FILE: builder/lr_scheduler_builder.py
  function build (line 6) | def build(optimizer_config, optimizer, total_step):
  function _create_learning_rate_scheduler (line 28) | def _create_learning_rate_scheduler(learning_rate_config, optimizer, tot...

FILE: builder/optimizer_builder.py
  function children (line 9) | def children(m: nn.Module):
  function num_children (line 14) | def num_children(m: nn.Module) -> int:
  function flatten_model (line 21) | def flatten_model(m):
  function get_layer_groups (line 29) | def get_layer_groups(m): return [nn.ModuleList(flatten_model(m))]
  function get_voxeLO_net_layer_groups (line 31) | def get_voxeLO_net_layer_groups(net):
  function get_voxeLO_net_layer_groups (line 44) | def get_voxeLO_net_layer_groups(net):
  function build (line 64) | def build(optimizer_config, net, name=None, mixed=False, loss_scale=512.0):

FILE: builder/rnnpose_builder.py
  function build (line 6) | def build(model_cfg,

FILE: config/default.py
  function _merge_a_into_b (line 5) | def _merge_a_into_b(a, b):
  class Config (line 41) | class Config(metaclass=Singleton):
    method __init__ (line 42) | def __init__(self):
    method __get_item__ (line 62) | def __get_item__(self, key):
    method merge (line 65) | def merge(self, config_dict, sub_key=None):
  function get_cfg (line 78) | def get_cfg(Node=None):

FILE: data/dataset.py
  function register_dataset (line 12) | def register_dataset(cls, name=None):
  function get_dataset_class (line 21) | def get_dataset_class(name):
  class Dataset (line 27) | class Dataset(object):
    method __getitem__ (line 30) | def __getitem__(self, index):
    method __len__ (line 33) | def __len__(self):
    method _read_data (line 36) | def _read_data(self, query):
    method evaluation (line 40) | def evaluation(self, dt_annos, output_dir):

FILE: data/linemod_dataset.py
  function se3_q2m (line 31) | def se3_q2m(se3_q):
  function info_convertor (line 41) | def info_convertor(info,):
  function resize (line 60) | def resize(im, target_size, max_size, stride=0, interpolation=cv2.INTER_...
  function sample_poses (line 89) | def sample_poses(pose_tgt):
  class LinemodDeepIMSynRealV2 (line 124) | class LinemodDeepIMSynRealV2(Dataset):
    method __init__ (line 126) | def __init__(self, root_path,
    method load_random_background (line 205) | def load_random_background(self, im_observed, mask):
    method _read_data (line 259) | def _read_data(self, idx):
    method __getitem__ (line 421) | def __getitem__(self, idx):
    method __len__ (line 439) | def __len__(self):

FILE: data/preprocess.py
  function merge_batch (line 33) | def merge_batch(batch_list):
  function get_correspondences (line 84) | def get_correspondences(src_pcd, tgt_pcd, search_voxel_size, K=None, tra...
  function to_pcd (line 103) | def to_pcd(xyz):
  function to_tsfm (line 109) | def to_tsfm(rot, trans):
  function CameraIntrinsicUpdate (line 116) | def CameraIntrinsicUpdate(old_K, aug_param):
  function crop_transform (line 146) | def crop_transform(images, depths, Ks, crop_param, ):
  function patch_crop (line 181) | def patch_crop(image, depth, mask, K_old, margin_ratio=0.2, output_size=...
  function preprocess_deepim (line 257) | def preprocess_deepim(
  function preprocess (line 367) | def preprocess(
  function batch_grid_subsampling_kpconv (line 503) | def batch_grid_subsampling_kpconv(points, batches_len, features=None, la...
  function batch_neighbors_kpconv (line 544) | def batch_neighbors_kpconv(queries, supports, q_batches, s_batches, radi...
  function collate_fn_descriptor (line 564) | def collate_fn_descriptor(list_data, config, neighborhood_limits):
  function collate_fn_descriptor_deepim (line 707) | def collate_fn_descriptor_deepim(list_data, config, neighborhood_limits):
  function calibrate_neighbors (line 856) | def calibrate_neighbors(dataset, config, collate_fn, keep_ratio=0.8, sam...
  function get_dataloader (line 894) | def get_dataloader(dataset, kpconv_config, batch_size=1, num_workers=4, ...
  function get_dataloader_deepim (line 913) | def get_dataloader_deepim(dataset, kpconv_config, batch_size=1, num_work...

FILE: data/transforms.py
  class Compose (line 10) | class Compose(object):
    method __init__ (line 12) | def __init__(self, transforms):
    method __call__ (line 15) | def __call__(self, img, kpts=None, mask=None):
    method __repr__ (line 20) | def __repr__(self):
  class ToTensor (line 29) | class ToTensor(object):
    method __call__ (line 31) | def __call__(self, img, kpts, mask):
  class Normalize (line 35) | class Normalize(object):
    method __init__ (line 37) | def __init__(self, mean, std, to_bgr=True):
    method __call__ (line 42) | def __call__(self, img, kpts, mask):
  class ColorJitter (line 50) | class ColorJitter(object):
    method __init__ (line 52) | def __init__(self,
    method __call__ (line 64) | def __call__(self, image, kpts, mask):
  class RandomBlur (line 69) | class RandomBlur(object):
    method __init__ (line 71) | def __init__(self, prob=0.5):
    method __call__ (line 74) | def __call__(self, image, kpts, mask):
  function make_transforms (line 81) | def make_transforms(cfg, is_train):

FILE: geometry/cholesky.py
  class _cholesky_solve (line 9) | class _cholesky_solve(torch.autograd.Function):
    method forward (line 11) | def forward(ctx, H, b):
    method backward (line 20) | def backward(ctx, dx):
  function cholesky_solve (line 29) | def cholesky_solve(H, b):
  function solve (line 32) | def solve(H, b, max_update=1.0):
  function __test__ (line 54) | def __test__():

FILE: geometry/diff_render.py
  function rasterize (line 31) | def rasterize(R, T, meshes, rasterizer, blur_radius=0):
  function set_bary_coords_to_nearest (line 51) | def set_bary_coords_to_nearest(bary_coords_):
  class MeshRendererWithDepth (line 58) | class MeshRendererWithDepth(nn.Module):
    method __init__ (line 59) | def __init__(self, rasterizer, shader):
    method to (line 64) | def to(self, device):
    method forward (line 70) | def forward(self, meshes_world, **kwargs) -> torch.Tensor:
  class DiffRender (line 75) | class DiffRender(nn.Module):
    method __init__ (line 76) | def __init__(self, mesh_path, render_texture=False):
    method to (line 107) | def to(self, *args, **kwargs):
    method get_patch_center_depths (line 122) | def get_patch_center_depths(self, T, K):
    method forward_interpolate (line 143) | def forward_interpolate(R, t, meshes, face_memory, rasterizer, blur_ra...
    method render_mesh (line 160) | def render_mesh(self,  T, K, render_image_size, near=0.1, far=6, light...
    method render_offset_map (line 202) | def render_offset_map(self,  T, K, render_image_size, near=0.1, far=6):
    method forward (line 224) | def forward(self, vert_attribute, T, K, render_image_size, near=0.1, f...
    method render_depth (line 276) | def render_depth(self, T, K, render_image_size, near=0.1, far=6, mode=...
  class DiffRendererWrapper (line 319) | class DiffRendererWrapper(nn.Module):
    method __init__ (line 320) | def __init__(self, obj_paths, device="cuda", render_texture=False ):
    method get_patch_center_depths (line 332) | def get_patch_center_depths(self, model_names, T, K):
    method render_offset_map (line 345) | def render_offset_map(self, model_names,  T, K, render_image_size, nea...
    method render_pat_id (line 355) | def render_pat_id(self, model_names,  T, K, render_image_size, near=0....
    method render_depth (line 366) | def render_depth(self, model_names,  T, K, render_image_size, near=0.1...
    method forward (line 377) | def forward(self, model_names,  vert_attribute, T, K, render_image_siz...

FILE: geometry/diff_render_optim.py
  function rasterize (line 33) | def rasterize(R, T, meshes, rasterizer, blur_radius=0):
  function set_bary_coords_to_nearest (line 53) | def set_bary_coords_to_nearest(bary_coords_):
  class MeshRendererWithDepth (line 60) | class MeshRendererWithDepth(nn.Module):
    method __init__ (line 61) | def __init__(self, rasterizer, shader):
    method to (line 66) | def to(self, device):
    method forward (line 72) | def forward(self, meshes_world, **kwargs) -> torch.Tensor:
  class MeshRendererWithDepth_v2 (line 77) | class MeshRendererWithDepth_v2(nn.Module):
    method __init__ (line 78) | def __init__(self, rasterizer, shader):
    method to (line 84) | def to(self, *args, **kwargs):
    method forward (line 95) | def forward(self, meshes_world, **kwargs) -> torch.Tensor:
  class DiffRender (line 108) | class DiffRender(nn.Module):
    method __init__ (line 109) | def __init__(self, mesh_path, render_texture=False):
    method to (line 144) | def to(self, *args, **kwargs):
    method get_patch_center_depths (line 163) | def get_patch_center_depths(self, T, K):
    method forward_interpolate (line 185) | def forward_interpolate(R, t, meshes, face_memory, rasterizer, blur_ra...
    method render_mesh (line 201) | def render_mesh(self,  T, K, render_image_size, near=0.1, far=6, light...
    method render_offset_map (line 246) | def render_offset_map(self,  T, K, render_image_size, near=0.1, far=6):
    method forward (line 269) | def forward(self, vert_attribute, T, K, render_image_size, near=0.1, f...
    method render_depth (line 327) | def render_depth(self, T, K, render_image_size, near=0.1, far=6, mode=...
    method render_pointcloud (line 369) | def render_pointcloud(self, T, K, render_image_size, near=0.1, far=6):
  class DiffRendererWrapper (line 405) | class DiffRendererWrapper(nn.Module):
    method __init__ (line 406) | def __init__(self, obj_paths, device="cuda", render_texture=False ):
    method get_patch_center_depths (line 418) | def get_patch_center_depths(self, model_names, T, K):
    method render_offset_map (line 431) | def render_offset_map(self, model_names,  T, K, render_image_size, nea...
    method render_pat_id (line 441) | def render_pat_id(self, model_names,  T, K, render_image_size, near=0....
    method render_depth (line 453) | def render_depth(self, model_names,  T, K, render_image_size, near=0.1...
    method render_mesh (line 463) | def render_mesh(self, model_names,  T, K, render_image_size, near=0.1,...
    method render_pointcloud (line 474) | def render_pointcloud(self, model_names, T, K, render_image_size, near...
    method forward (line 483) | def forward(self, model_names,  vert_attribute, T, K, render_image_siz...

FILE: geometry/einsum.py
  function einsum (line 8) | def einsum(equation, *inputs):

FILE: geometry/intrinsics.py
  function intrinsics_vec_to_matrix (line 6) | def intrinsics_vec_to_matrix(kvec):
  function intrinsics_matrix_to_vec (line 15) | def intrinsics_matrix_to_vec(kmat):
  function update_intrinsics (line 22) | def update_intrinsics(intrinsics, delta_focal):
  function rescale_depth (line 35) | def rescale_depth(depth, downscale=4):
  function rescale_depth_and_intrinsics (line 41) | def rescale_depth_and_intrinsics(depth, intrinsics, downscale=4):
  function rescale_depths_and_intrinsics (line 47) | def rescale_depths_and_intrinsics(depth, intrinsics, downscale=4):

FILE: geometry/projective_ops.py
  function normalize_coords_grid (line 11) | def normalize_coords_grid(coords):
  function coords_grid (line 25) | def coords_grid(ref, homogeneous=True):
  function extract_and_reshape_intrinsics (line 47) | def extract_and_reshape_intrinsics(intrinsics, shape=None):
  function backproject (line 68) | def backproject(depth, intrinsics, jacobian=False, depth_coords=None):
  function project (line 103) | def project(points, intrinsics, jacobian=False):

FILE: geometry/se3.py
  function matdotv (line 12) | def matdotv(A,b):
  function hat (line 15) | def hat(a):
  function quaternion_rotate_point (line 30) | def quaternion_rotate_point(q, pt, eq=None):
  function quaternion_rotate_matrix (line 41) | def quaternion_rotate_matrix(q, mat, eq=None):
  function quaternion_inverse (line 52) | def quaternion_inverse(q):
  function quaternion_multiply (line 55) | def quaternion_multiply(a, b):
  function quaternion_to_matrix (line 68) | def quaternion_to_matrix(q):
  function rotation_matrix_to_quaternion (line 91) | def rotation_matrix_to_quaternion(R):
  function so3_expm_and_theta (line 111) | def so3_expm_and_theta(omega):
  function so3_logm_and_theta (line 133) | def so3_logm_and_theta(so3):
  function se3_expm (line 146) | def se3_expm(xi):
  function se3_logm (line 168) | def se3_logm(so3, t):
  function se3_matrix_inverse (line 194) | def se3_matrix_inverse(G):
  function _se3_matrix_expm_grad (line 212) | def _se3_matrix_expm_grad(grad):
  function _se3_matrix_expm_shape (line 224) | def _se3_matrix_expm_shape(op):
  function _se3_matrix_expm (line 228) | def _se3_matrix_expm(upsilon_omega):
  class SE3_Matrix_Expm (line 284) | class SE3_Matrix_Expm(torch.autograd.Function):
    method forward (line 287) | def forward(ctx, upsilon_omega):
    method backward (line 293) | def backward(ctx, grad_output):
  function se3_matrix_expm (line 299) | def se3_matrix_expm(upsilon_omega):
  function se3_matrix_increment (line 303) | def se3_matrix_increment(G, upsilon_omega):

FILE: geometry/transformation.py
  function clip_dangerous_gradients (line 23) | def clip_dangerous_gradients(x):
  function jac_local_perturb (line 27) | def jac_local_perturb(pt, fill=False):
  function cond_transform (line 49) | def cond_transform(cond, T1, T2):
  class SE3 (line 65) | class SE3:
    method __init__ (line 66) | def __init__(self, upsilon=None, matrix=None, so3=None, translation=No...
    method __call__ (line 78) | def __call__(self, pt, jacobian=False):
    method __mul__ (line 95) | def __mul__(self, other):
    method identity_ (line 102) | def identity_(self):
    method increment (line 110) | def increment(self, upsilon):
    method concat (line 117) | def concat(self, other, axis=0):
    method copy (line 124) | def copy(self, stop_gradients=False):
    method to_vec (line 136) | def to_vec(self):
    method inv (line 139) | def inv(self):
    method adj (line 146) | def adj(self):
    method logm (line 165) | def logm(self):
    method shape (line 168) | def shape(self):
    method matrix (line 177) | def matrix(self, fill=True):
    method transform (line 184) | def transform(self, depth, intrinsics, valid_mask=False, return3d=False):
    method induced_flow (line 200) | def induced_flow(self, depth, intrinsics, valid_mask=False):
    method depth_change (line 210) | def depth_change(self, depth, intrinsics):
    method identity (line 215) | def identity(self):
  class SE3Sequence (line 230) | class SE3Sequence(SE3):
    method __init__ (line 233) | def __init__(self, upsilon=None, matrix=None, so3=None, translation=No...
    method __call__ (line 238) | def __call__(self, pt, inds=None, jacobian=False):
    method gather (line 245) | def gather(self, inds):
    method reprojction_optim (line 265) | def reprojction_optim(self,
    method transform (line 319) | def transform(self, depth, intrinsics, valid_mask=False, return3d=False):

FILE: model/CFNet.py
  class autocast (line 17) | class autocast:
    method __init__ (line 18) | def __init__(self, enabled):
    method __enter__ (line 20) | def __enter__(self):
    method __exit__ (line 22) | def __exit__(self, *args):
  class ImageFeaEncoder (line 26) | class ImageFeaEncoder(nn.Module):
    method __init__ (line 27) | def __init__(self, input_dim=3, output_dim=256):
    method forward (line 41) | def forward(self, image1, image2):
  class GRU_CFUpdator (line 52) | class GRU_CFUpdator(nn.Module):
    method __init__ (line 53) | def __init__(self, args):
    method freeze_bn (line 81) | def freeze_bn(self):
    method initialize_flow (line 86) | def initialize_flow(self, img, downsample_rate=8):
    method upsample_flow (line 95) | def upsample_flow(self, flow, mask, upsample_scale=8):
    method forward (line 109) | def forward(self, fmap1, fmap2, iters=1, flow_init=None, upsample=True...

FILE: model/HybridNet.py
  function register_hybrid_net (line 15) | def register_hybrid_net(cls, name=None):
  function get_hybrid_net (line 24) | def get_hybrid_net(name):
  class ContextFeatureNet (line 29) | class ContextFeatureNet(nn.Module):
    method __init__ (line 30) | def __init__(self, config):
    method forward (line 34) | def forward(self, batch):
  class HybridDescNet (line 62) | class HybridDescNet(nn.Module):
    method __init__ (line 64) | def __init__(self, config):
    method forward (line 72) | def forward(self, batch):

FILE: model/PoseRefiner.py
  function raft_sequence_flow_loss (line 29) | def raft_sequence_flow_loss(flow_preds, flow_gt, valid, gamma=0.8, max_f...
  class PoseRefiner (line 60) | class PoseRefiner(nn.Module):
    method __init__ (line 61) | def __init__(self, cfg,
    method _clear (line 105) | def _clear(self,):
    method __len__ (line 116) | def __len__(self):
    method render (line 119) | def render(self, params, render_tex=False):
    method get_affine_transformation (line 145) | def get_affine_transformation(self, mask, crop_center, with_intrinsic_...
    method gen_zoom_crop_grids (line 207) | def gen_zoom_crop_grids(self, fg_mask, K, T, output_size, model_center...
    method forward (line 221) | def forward(self, image, Ts, intrinsics, fea_3d=None, Tj_gt=None, obj_...
    method compute_loss (line 378) | def compute_loss(self, Tij_gts, depths, intrinsics, loss='l1', log_err...

FILE: model/RNNPose.py
  function register_posenet (line 32) | def register_posenet(cls, name=None):
  function get_posenet_class (line 41) | def get_posenet_class(name):
  class RNNPose (line 50) | class RNNPose(nn.Module):
    method __init__ (line 51) | def __init__(self,
    method update_global_step (line 87) | def update_global_step(self):
    method get_global_step (line 90) | def get_global_step(self):
    method clear_global_step (line 93) | def clear_global_step(self):
    method sample_poses (line 96) | def sample_poses(self, pose_tgt):
    method _render_init (line 126) | def _render_init(self, config):
    method forward (line 157) | def forward(self, sample):
    method loss (line 225) | def loss(self, sample, preds_dict):

FILE: model/descriptor2D.py
  class SuperPoint2D (line 9) | class SuperPoint2D(nn.Module):
    method __init__ (line 27) | def __init__(self, config):
    method load_state_dict (line 100) | def load_state_dict(self,state_dict, strict=True):
    method forward_encoder (line 113) | def forward_encoder(self, x):
    method forward_decoder (line 134) | def forward_decoder(self, x, x_skip):
    method forward (line 166) | def forward(self, data):

FILE: model/descriptor3D.py
  class KPSuperpoint3Dv2 (line 10) | class KPSuperpoint3Dv2(nn.Module):
    method __init__ (line 12) | def __init__(self, config):
    method regular_score (line 142) | def regular_score(self,score):
    method forward_encoder (line 147) | def forward_encoder(self, batch):
    method forward_middle (line 172) | def forward_middle(self, x):
    method forward_decoder (line 180) | def forward_decoder(self, x, skip_x, batch ):
    method forward (line 195) | def forward(self, batch):

FILE: model/losses.py
  class Loss (line 21) | class Loss(nn.Module):
    method __init__ (line 25) | def __init__(self, loss_weight=1):
    method forward (line 30) | def forward(self,
    method _compute_loss (line 65) | def _compute_loss(self, prediction_tensor, target_tensor, **params):
  class L2Loss (line 82) | class L2Loss(Loss):
    method __init__ (line 84) | def __init__(self, loss_weight=1):
    method _compute_loss (line 87) | def _compute_loss(self, prediction_tensor, target_tensor, mask=None):
  class AdaptiveWeightedL2Loss (line 110) | class AdaptiveWeightedL2Loss(Loss):
    method __init__ (line 112) | def __init__(self, init_alpha, learn_alpha=True, loss_weight=1, focal_...
    method _compute_loss (line 120) | def _compute_loss(self, prediction_tensor, target_tensor, mask=None, a...
  class MetricLoss (line 158) | class MetricLoss(nn.Module):
    method __init__ (line 163) | def __init__(self, configs, log_scale=16, pos_optimal=0.1, neg_optimal...
    method get_circle_loss (line 179) | def get_circle_loss(self, coords_dist, feats_dist):
    method get_recall (line 222) | def get_recall(self, coords_dist, feats_dist):
    method get_weighted_bce_loss (line 236) | def get_weighted_bce_loss(self, prediction, gt):
    method forward (line 257) | def forward(self, src_pcd, tgt_pcd, src_feats, tgt_feats, corresponden...
  class PointAlignmentLoss (line 307) | class PointAlignmentLoss(nn.Module):
    method __init__ (line 308) | def __init__(self, loss_weight=1, ):
    method forward (line 312) | def forward(self, R_pred, t_pred, R_tgt, t_tgt, points):
    method _compute_loss (line 315) | def _compute_loss(self, R_pred, t_pred, R_tgt, t_tgt, points, ):

FILE: thirdparty/kpconv/cpp_wrappers/cpp_neighbors/neighbors/neighbors.cpp
  function brute_neighbors (line 5) | void brute_neighbors(vector<PointXYZ>& queries, vector<PointXYZ>& suppor...
  function ordered_neighbors (line 58) | void ordered_neighbors(vector<PointXYZ>& queries,
  function batch_ordered_neighbors (line 125) | void batch_ordered_neighbors(vector<PointXYZ>& queries,
  function batch_nanoflann_neighbors (line 211) | void batch_nanoflann_neighbors(vector<PointXYZ>& queries,

FILE: thirdparty/kpconv/cpp_wrappers/cpp_neighbors/wrapper.cpp
  type PyModuleDef (line 35) | struct PyModuleDef
  function PyMODINIT_FUNC (line 48) | PyMODINIT_FUNC PyInit_radius_neighbors(void)
  function PyObject (line 58) | static PyObject* batch_neighbors(PyObject* self, PyObject* args, PyObjec...

FILE: thirdparty/kpconv/cpp_wrappers/cpp_subsampling/grid_subsampling/grid_subsampling.cpp
  function grid_subsampling (line 5) | void grid_subsampling(vector<PointXYZ>& original_points,
  function batch_grid_subsampling (line 109) | void batch_grid_subsampling(vector<PointXYZ>& original_points,

FILE: thirdparty/kpconv/cpp_wrappers/cpp_subsampling/grid_subsampling/grid_subsampling.h
  function class (line 10) | class SampledData
  function update_all (line 42) | void update_all(const PointXYZ p, vector<float>::iterator f_begin, vecto...
  function update_features (line 55) | void update_features(const PointXYZ p, vector<float>::iterator f_begin)
  function update_classes (line 62) | void update_classes(const PointXYZ p, vector<int>::iterator l_begin)
  function update_points (line 74) | void update_points(const PointXYZ p)

FILE: thirdparty/kpconv/cpp_wrappers/cpp_subsampling/wrapper.cpp
  type PyModuleDef (line 39) | struct PyModuleDef
  function PyMODINIT_FUNC (line 52) | PyMODINIT_FUNC PyInit_grid_subsampling(void)
  function PyObject (line 62) | static PyObject* batch_subsampling(PyObject* self, PyObject* args, PyObj...
  function PyObject (line 338) | static PyObject* cloud_subsampling(PyObject* self, PyObject* args, PyObj...

FILE: thirdparty/kpconv/cpp_wrappers/cpp_utils/cloud/cloud.cpp
  function PointXYZ (line 27) | PointXYZ max_point(std::vector<PointXYZ> points)
  function PointXYZ (line 48) | PointXYZ min_point(std::vector<PointXYZ> points)

FILE: thirdparty/kpconv/cpp_wrappers/cpp_utils/cloud/cloud.h
  function class (line 40) | class PointXYZ
  function const (line 58) | float operator [] (int i) const
  function dot (line 66) | float dot(const PointXYZ P) const
  function sq_norm (line 71) | float sq_norm()
  function PointXYZ (line 76) | PointXYZ cross(const PointXYZ P) const
  function PointXYZ (line 110) | inline PointXYZ operator + (const PointXYZ A, const PointXYZ B)
  function PointXYZ (line 115) | inline PointXYZ operator - (const PointXYZ A, const PointXYZ B)
  function PointXYZ (line 120) | inline PointXYZ operator * (const PointXYZ P, const float a)
  function PointXYZ (line 125) | inline PointXYZ operator * (const float a, const PointXYZ P)
  function operator (line 135) | inline bool operator == (const PointXYZ A, const PointXYZ B)
  function PointXYZ (line 140) | inline PointXYZ floor(const PointXYZ P)
  function kdtree_get_pt (line 150) | struct PointCloud

FILE: thirdparty/kpconv/cpp_wrappers/cpp_utils/nanoflann/nanoflann.hpp
  function T (line 79) | T pi_const() {
  type has_resize (line 87) | struct has_resize : std::false_type {}
  type has_resize<T, decltype((void)std::declval<T>().resize(1), 0)> (line 90) | struct has_resize<T, decltype((void)std::declval<T>().resize(1), 0)>
  type has_assign (line 93) | struct has_assign : std::false_type {}
  type has_assign<T, decltype((void)std::declval<T>().assign(1, 0), 0)> (line 96) | struct has_assign<T, decltype((void)std::declval<T>().assign(1, 0), 0)>
  function resize (line 103) | inline typename std::enable_if<has_resize<Container>::value, void>::type
  function resize (line 113) | inline typename std::enable_if<!has_resize<Container>::value, void>::type
  function assign (line 123) | inline typename std::enable_if<has_assign<Container>::value, void>::type
  function assign (line 132) | inline typename std::enable_if<!has_assign<Container>::value, void>::type
  class KNNResultSet (line 142) | class KNNResultSet {
    method KNNResultSet (line 155) | inline KNNResultSet(CountType capacity_)
    method init (line 158) | inline void init(IndexType *indices_, DistanceType *dists_) {
    method CountType (line 166) | inline CountType size() const { return count; }
    method full (line 168) | inline bool full() const { return count == capacity; }
    method addPoint (line 175) | inline bool addPoint(DistanceType dist, IndexType index) {
    type IndexDist_Sorter (line 208) | struct IndexDist_Sorter {
    class RadiusResultSet (line 220) | class RadiusResultSet {
      method RadiusResultSet (line 230) | inline RadiusResultSet(
      method init (line 237) | inline void init() { clear(); }
      method clear (line 238) | inline void clear() { m_indices_dists.clear(); }
      method size (line 240) | inline size_t size() const { return m_indices_dists.size(); }
      method full (line 242) | inline bool full() const { return true; }
      method addPoint (line 249) | inline bool addPoint(DistanceType dist, IndexType index) {
      method DistanceType (line 255) | inline DistanceType worstDist() const { return radius; }
      method worst_item (line 261) | std::pair<IndexType, DistanceType> worst_item() const {
    method save_value (line 279) | void save_value(FILE *stream, const T &value, size_t count = 1) {
    method save_value (line 284) | void save_value(FILE *stream, const std::vector<T> &value) {
    method load_value (line 291) | void load_value(FILE *stream, T &value, size_t count = 1) {
    method load_value (line 298) | void load_value(FILE *stream, std::vector<T> &value) {
    type Metric (line 315) | struct Metric {}
    type L1_Adaptor (line 324) | struct L1_Adaptor {
      method L1_Adaptor (line 330) | L1_Adaptor(const DataSource &_data_source) : data_source(_data_sourc...
      method DistanceType (line 332) | inline DistanceType evalMetric(const T *a, const size_t b_idx, size_...
      method DistanceType (line 363) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type L2_Adaptor (line 375) | struct L2_Adaptor {
      method L2_Adaptor (line 381) | L2_Adaptor(const DataSource &_data_source) : data_source(_data_sourc...
      method DistanceType (line 383) | inline DistanceType evalMetric(const T *a, const size_t b_idx, size_...
      method DistanceType (line 411) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type L2_Simple_Adaptor (line 423) | struct L2_Simple_Adaptor {
      method L2_Simple_Adaptor (line 429) | L2_Simple_Adaptor(const DataSource &_data_source)
      method DistanceType (line 432) | inline DistanceType evalMetric(const T *a, const size_t b_idx,
      method DistanceType (line 443) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type SO2_Adaptor (line 455) | struct SO2_Adaptor {
      method SO2_Adaptor (line 461) | SO2_Adaptor(const DataSource &_data_source) : data_source(_data_sour...
      method DistanceType (line 463) | inline DistanceType evalMetric(const T *a, const size_t b_idx,
      method DistanceType (line 471) | inline DistanceType accum_dist(const U a, const V b, const size_t) c...
    type SO3_Adaptor (line 489) | struct SO3_Adaptor {
      method SO3_Adaptor (line 495) | SO3_Adaptor(const DataSource &_data_source)
      method DistanceType (line 498) | inline DistanceType evalMetric(const T *a, const size_t b_idx,
      method DistanceType (line 504) | inline DistanceType accum_dist(const U a, const V b, const size_t id...
    type metric_L1 (line 510) | struct metric_L1 : public Metric {
      type traits (line 511) | struct traits {
    type metric_L2 (line 516) | struct metric_L2 : public Metric {
      type traits (line 517) | struct traits {
    type metric_L2_Simple (line 522) | struct metric_L2_Simple : public Metric {
      type traits (line 523) | struct traits {
    type metric_SO2 (line 528) | struct metric_SO2 : public Metric {
      type traits (line 529) | struct traits {
    type metric_SO3 (line 534) | struct metric_SO3 : public Metric {
      type traits (line 535) | struct traits {
    type KDTreeSingleIndexAdaptorParams (line 546) | struct KDTreeSingleIndexAdaptorParams {
      method KDTreeSingleIndexAdaptorParams (line 547) | KDTreeSingleIndexAdaptorParams(size_t _leaf_max_size = 10)
    type SearchParams (line 554) | struct SearchParams {
      method SearchParams (line 557) | SearchParams(int checks_IGNORED_ = 32, float eps_ = 0, bool sorted_ ...
    method T (line 578) | inline T *allocate(size_t count = 1) {
    class PooledAllocator (line 601) | class PooledAllocator {
      method internal_init (line 612) | void internal_init() {
      method PooledAllocator (line 626) | PooledAllocator() { internal_init(); }
      method free_all (line 634) | void free_all() {
      method T (line 702) | T *allocate(const size_t count = 1) {
    type array_or_vector_selector (line 715) | struct array_or_vector_selector {
    type array_or_vector_selector<-1, T> (line 719) | struct array_or_vector_selector<-1, T> {
    class KDTreeBaseClass (line 739) | class KDTreeBaseClass {
      method freeIndex (line 744) | void freeIndex(Derived &obj) {
      type Node (line 754) | struct Node {
        type leaf (line 758) | struct leaf {
        type nonleaf (line 761) | struct nonleaf {
      type Interval (line 771) | struct Interval {
      method size (line 813) | size_t size(const Derived &obj) const { return obj.m_size; }
      method veclen (line 816) | size_t veclen(const Derived &obj) {
      method ElementType (line 821) | inline ElementType dataset_get(const Derived &obj, size_t idx,
      method usedMemory (line 830) | size_t usedMemory(Derived &obj) {
      method computeMinMax (line 836) | void computeMinMax(const Derived &obj, IndexType *ind, IndexType count,
      method NodePtr (line 857) | NodePtr divideTree(Derived &obj, const IndexType left, const IndexTy...
      method middleSplit_ (line 909) | void middleSplit_(Derived &obj, IndexType *ind, IndexType count,
      method planeSplit (line 967) | void planeSplit(Derived &obj, IndexType *ind, const IndexType count,
      method DistanceType (line 1005) | DistanceType computeInitialDistances(const Derived &obj,
      method save_tree (line 1024) | void save_tree(Derived &obj, FILE *stream, NodePtr tree) {
      method load_tree (line 1034) | void load_tree(Derived &obj, FILE *stream, NodePtr &tree) {
      method saveIndex_ (line 1050) | void saveIndex_(Derived &obj, FILE *stream) {
      method loadIndex_ (line 1064) | void loadIndex_(Derived &obj, FILE *stream) {
    class KDTreeSingleIndexAdaptor (line 1116) | class KDTreeSingleIndexAdaptor
      method KDTreeSingleIndexAdaptor (line 1122) | KDTreeSingleIndexAdaptor(
      method KDTreeSingleIndexAdaptor (line 1170) | KDTreeSingleIndexAdaptor(const int dimensionality,
      method buildIndex (line 1190) | void buildIndex() {
      method findNeighbors (line 1221) | bool findNeighbors(RESULTSET &result, const ElementType *vec,
      method knnSearch (line 1254) | size_t knnSearch(const ElementType *query_point, const size_t num_cl...
      method radiusSearch (line 1279) | size_t
      method radiusSearchCustomCallback (line 1297) | size_t radiusSearchCustomCallback(
      method init_vind (line 1309) | void init_vind() {
      method computeBoundingBox (line 1318) | void computeBoundingBox(BoundingBox &bbox) {
      method searchLevel (line 1348) | bool searchLevel(RESULTSET &result_set, const ElementType *vec,
      method saveIndex (line 1419) | void saveIndex(FILE *stream) { this->saveIndex_(*this, stream); }
      method loadIndex (line 1426) | void loadIndex(FILE *stream) { this->loadIndex_(*this, stream); }
    class KDTreeSingleIndexDynamicAdaptor_ (line 1468) | class KDTreeSingleIndexDynamicAdaptor_
      method KDTreeSingleIndexDynamicAdaptor_ (line 1519) | KDTreeSingleIndexDynamicAdaptor_(
      method KDTreeSingleIndexDynamicAdaptor_ (line 1536) | KDTreeSingleIndexDynamicAdaptor_
      method buildIndex (line 1555) | void buildIndex() {
      method findNeighbors (line 1584) | bool findNeighbors(RESULTSET &result, const ElementType *vec,
      method knnSearch (line 1616) | size_t knnSearch(const ElementType *query_point, const size_t num_cl...
      method radiusSearch (line 1641) | size_t
      method radiusSearchCustomCallback (line 1659) | size_t radiusSearchCustomCallback(
      method computeBoundingBox (line 1669) | void computeBoundingBox(BoundingBox &bbox) {
      method searchLevel (line 1699) | void searchLevel(RESULTSET &result_set, const ElementType *vec,
      method saveIndex (line 1765) | void saveIndex(FILE *stream) { this->saveIndex_(*this, stream); }
      method loadIndex (line 1772) | void loadIndex(FILE *stream) { this->loadIndex_(*this, stream); }
    class KDTreeSingleIndexDynamicAdaptor (line 1791) | class KDTreeSingleIndexDynamicAdaptor {
      method First0Bit (line 1825) | int First0Bit(IndexType num) {
      method init (line 1835) | void init() {
      method KDTreeSingleIndexDynamicAdaptor (line 1860) | KDTreeSingleIndexDynamicAdaptor(const int dimensionality,
      method KDTreeSingleIndexDynamicAdaptor (line 1881) | KDTreeSingleIndexDynamicAdaptor(
      method addPoints (line 1886) | void addPoints(IndexType start, IndexType end) {
      method removePoint (line 1909) | void removePoint(size_t idx) {
      method findNeighbors (line 1929) | bool findNeighbors(RESULTSET &result, const ElementType *vec,
    type KDTreeEigenMatrixAdaptor (line 1957) | struct KDTreeEigenMatrixAdaptor {
      method KDTreeEigenMatrixAdaptor (line 1971) | KDTreeEigenMatrixAdaptor(const size_t dimensionality,
      method KDTreeEigenMatrixAdaptor (line 1990) | KDTreeEigenMatrixAdaptor(const self_t &) = delete;
      method query (line 2002) | inline void query(const num_t *query_point, const size_t num_closest,
      method self_t (line 2013) | const self_t &derived() const { return *this; }
      method self_t (line 2014) | self_t &derived() { return *this; }
      method kdtree_get_point_count (line 2017) | inline size_t kdtree_get_point_count() const {
      method num_t (line 2022) | inline num_t kdtree_get_pt(const IndexType idx, size_t dim) const {
      method kdtree_get_bbox (line 2031) | bool kdtree_get_bbox(BBOX & /*bb*/) const {

FILE: thirdparty/kpconv/kernels/kernel_points.py
  function create_3D_rotations (line 33) | def create_3D_rotations(axis, angle):
  function spherical_Lloyd (line 67) | def spherical_Lloyd(radius, num_cells, dimension=3, fixed='center', appr...
  function kernel_point_optimization_debug (line 247) | def kernel_point_optimization_debug(radius, num_points, num_kernels=1, d...
  function load_kernels (line 391) | def load_kernels(radius, num_kpoints, dimension, fixed, lloyd=False):

FILE: thirdparty/kpconv/kpconv_blocks.py
  function gather (line 29) | def gather(x, idx, method=2):
  function radius_gaussian (line 63) | def radius_gaussian(sq_r, sig, eps=1e-9):
  function closest_pool (line 73) | def closest_pool(x, inds):
  function max_pool (line 88) | def max_pool(x, inds):
  function global_average (line 107) | def global_average(x, batch_lengths):
  class KPConv (line 137) | class KPConv(nn.Module):
    method __init__ (line 139) | def __init__(self, kernel_size, p_dim, in_channels, out_channels, KP_e...
    method reset_parameters (line 210) | def reset_parameters(self):
    method init_KP (line 216) | def init_KP(self):
    method forward (line 231) | def forward(self, q_pts, s_pts, neighb_inds, x):
    method __repr__ (line 379) | def __repr__(self):
  function block_decider (line 390) | def block_decider(block_name,
  class BatchNormBlock (line 442) | class BatchNormBlock(nn.Module):
    method __init__ (line 444) | def __init__(self, in_dim, use_bn, bn_momentum):
    method reset_parameters (line 462) | def reset_parameters(self):
    method forward (line 465) | def forward(self, x):
    method __repr__ (line 476) | def __repr__(self):
  class UnaryBlock (line 482) | class UnaryBlock(nn.Module):
    method __init__ (line 484) | def __init__(self, in_dim, out_dim, use_bn, bn_momentum, no_relu=False):
    method forward (line 505) | def forward(self, x, batch=None):
    method __repr__ (line 512) | def __repr__(self):
  class LastUnaryBlock (line 519) | class LastUnaryBlock(nn.Module):
    method __init__ (line 521) | def __init__(self, in_dim, out_dim, use_bn, bn_momentum, no_relu=False):
    method forward (line 536) | def forward(self, x, batch=None):
    method __repr__ (line 540) | def __repr__(self):
  class SimpleBlock (line 545) | class SimpleBlock(nn.Module):
    method __init__ (line 547) | def __init__(self, block_name, in_dim, out_dim, radius, layer_ind, con...
    method forward (line 587) | def forward(self, x, batch):
  class ResnetBottleneckBlock (line 602) | class ResnetBottleneckBlock(nn.Module):
    method __init__ (line 604) | def __init__(self, block_name, in_dim, out_dim, radius, layer_ind, con...
    method forward (line 659) | def forward(self, features, batch):
  class GlobalAverageBlock (line 690) | class GlobalAverageBlock(nn.Module):
    method __init__ (line 692) | def __init__(self):
    method forward (line 699) | def forward(self, x, batch):
  class NearestUpsampleBlock (line 703) | class NearestUpsampleBlock(nn.Module):
    method __init__ (line 705) | def __init__(self, layer_ind):
    method forward (line 713) | def forward(self, x, batch):
    method __repr__ (line 716) | def __repr__(self):
  class MaxPoolBlock (line 721) | class MaxPoolBlock(nn.Module):
    method __init__ (line 723) | def __init__(self, layer_ind):
    method forward (line 731) | def forward(self, x, batch):

FILE: thirdparty/kpconv/lib/ply.py
  function parse_header (line 60) | def parse_header(plyfile, ext):
  function parse_mesh_header (line 80) | def parse_mesh_header(plyfile, ext):
  function read_ply (line 113) | def read_ply(filename, triangular_mesh=False):
  function header_properties (line 195) | def header_properties(field_list, field_names):
  function write_ply (line 212) | def write_ply(filename, field_list, field_names, triangular_faces=None):
  function describe_element (line 326) | def describe_element(name, df):

FILE: thirdparty/kpconv/lib/timer.py
  class AverageMeter (line 4) | class AverageMeter(object):
    method __init__ (line 7) | def __init__(self):
    method reset (line 10) | def reset(self):
    method update (line 17) | def update(self, val, n=1):
  class Timer (line 26) | class Timer(object):
    method __init__ (line 29) | def __init__(self):
    method reset (line 36) | def reset(self):
    method tic (line 43) | def tic(self):
    method toc (line 48) | def toc(self, average=True):

FILE: thirdparty/kpconv/lib/utils.py
  class Logger (line 20) | class Logger:
    method __init__ (line 21) | def __init__(self, path):
    method write (line 25) | def write(self, text):
    method close (line 29) | def close(self):
  function save_obj (line 32) | def save_obj(obj, path ):
  function load_obj (line 39) | def load_obj(path):
  function load_config (line 46) | def load_config(path):
  function setup_seed (line 63) | def setup_seed(seed):
  function square_distance (line 73) | def square_distance(src, dst, normalised = False):
  function validate_gradient (line 96) | def validate_gradient(model):
  function natural_key (line 109) | def natural_key(string_):

FILE: thirdparty/nn/_ext.c
  type _cffi_global_s (line 127) | struct _cffi_global_s {
  type _cffi_getconst_s (line 135) | struct _cffi_getconst_s {
  type _cffi_struct_union_s (line 141) | struct _cffi_struct_union_s {
  type _cffi_field_s (line 157) | struct _cffi_field_s {
  type _cffi_enum_s (line 164) | struct _cffi_enum_s {
  type _cffi_typename_s (line 171) | struct _cffi_typename_s {
  type _cffi_type_context_s (line 177) | struct _cffi_type_context_s {
  type _cffi_parse_info_s (line 193) | struct _cffi_parse_info_s {
  type _cffi_externpy_s (line 201) | struct _cffi_externpy_s {
  type _cffi_parse_info_s (line 208) | struct _cffi_parse_info_s
  type _cffi_type_context_s (line 209) | struct _cffi_type_context_s
  type _cffi_type_context_s (line 211) | struct _cffi_type_context_s
  type __int8 (line 221) | typedef __int8 int8_t;
  type __int16 (line 222) | typedef __int16 int16_t;
  type __int32 (line 223) | typedef __int32 int32_t;
  type __int64 (line 224) | typedef __int64 int64_t;
  type __int8 (line 229) | typedef __int8 int_least8_t;
  type __int16 (line 230) | typedef __int16 int_least16_t;
  type __int32 (line 231) | typedef __int32 int_least32_t;
  type __int64 (line 232) | typedef __int64 int_least64_t;
  type uint_least8_t (line 233) | typedef unsigned __int8 uint_least8_t;
  type uint_least16_t (line 234) | typedef unsigned __int16 uint_least16_t;
  type uint_least32_t (line 235) | typedef unsigned __int32 uint_least32_t;
  type uint_least64_t (line 236) | typedef unsigned __int64 uint_least64_t;
  type __int8 (line 237) | typedef __int8 int_fast8_t;
  type __int16 (line 238) | typedef __int16 int_fast16_t;
  type __int32 (line 239) | typedef __int32 int_fast32_t;
  type __int64 (line 240) | typedef __int64 int_fast64_t;
  type uint_fast8_t (line 241) | typedef unsigned __int8 uint_fast8_t;
  type uint_fast16_t (line 242) | typedef unsigned __int16 uint_fast16_t;
  type uint_fast32_t (line 243) | typedef unsigned __int32 uint_fast32_t;
  type uint_fast64_t (line 244) | typedef unsigned __int64 uint_fast64_t;
  type __int64 (line 245) | typedef __int64 intmax_t;
  type uintmax_t (line 246) | typedef unsigned __int64 uintmax_t;
  type _Bool (line 252) | typedef unsigned char _Bool;
  type _Bool (line 270) | typedef bool _Bool;
  type _cffi_ctypedescr (line 374) | struct _cffi_ctypedescr
  function PyObject (line 382) | static PyObject *_cffi_init(const char *module_name, Py_ssize_t version,
  type wchar_t (line 415) | typedef wchar_t _cffi_wchar_t;
  type _cffi_wchar_t (line 417) | typedef uint16_t _cffi_wchar_t;
  function _CFFI_UNUSED_FN (line 420) | _CFFI_UNUSED_FN static uint16_t _cffi_to_c_char16_t(PyObject *o)
  function _CFFI_UNUSED_FN (line 428) | _CFFI_UNUSED_FN static PyObject *_cffi_from_c_char16_t(uint16_t x)
  function _CFFI_UNUSED_FN (line 436) | _CFFI_UNUSED_FN static int _cffi_to_c_char32_t(PyObject *o)
  function _CFFI_UNUSED_FN (line 444) | _CFFI_UNUSED_FN static PyObject *_cffi_from_c_char32_t(int x)
  type _cffi_externpy_s (line 456) | struct _cffi_externpy_s
  function _cffi_d_findNearestPointIdxLauncher (line 513) | static void _cffi_d_findNearestPointIdxLauncher(float * x0, float * x1, ...
  function PyObject (line 518) | static PyObject *
  type _cffi_global_s (line 609) | struct _cffi_global_s
  type _cffi_type_context_s (line 613) | struct _cffi_type_context_s
  function PyMODINIT_FUNC (line 634) | PyMODINIT_FUNC
  function PyInit__ext (line 646) | PyInit__ext(void) { return NULL; }
  function init_ext (line 648) | init_ext(void) { }
  function PyMODINIT_FUNC (line 652) | PyMODINIT_FUNC
  function PyMODINIT_FUNC (line 658) | PyMODINIT_FUNC

FILE: thirdparty/nn/nn_utils.py
  function find_nearest_point_idx (line 6) | def find_nearest_point_idx(ref_pts, que_pts):

FILE: thirdparty/raft/corr.py
  class CorrBlock (line 12) | class CorrBlock:
    method __init__ (line 13) | def __init__(self, fmap1, fmap2, num_levels=4, radius=4, downsample_ra...
    method __call__ (line 36) | def __call__(self, coords):
    method corr (line 60) | def corr(fmap1, fmap2):
  class AlternateCorrBlock (line 70) | class AlternateCorrBlock:
    method __init__ (line 71) | def __init__(self, fmap1, fmap2, num_levels=4, radius=4):
    method __call__ (line 81) | def __call__(self, coords):

FILE: thirdparty/raft/extractor.py
  class ResidualBlock (line 6) | class ResidualBlock(nn.Module):
    method __init__ (line 7) | def __init__(self, in_planes, planes, norm_fn='group', stride=1):
    method forward (line 48) | def forward(self, x):
  class BottleneckBlock (line 60) | class BottleneckBlock(nn.Module):
    method __init__ (line 61) | def __init__(self, in_planes, planes, norm_fn='group', stride=1):
    method forward (line 107) | def forward(self, x):
  class BasicEncoder (line 118) | class BasicEncoder(nn.Module):
    method __init__ (line 119) | def __init__(self, output_dim=128, norm_fn='batch', dropout=0.0, input...
    method _make_layer (line 183) | def _make_layer(self, dim, stride=1):
    method forward (line 192) | def forward(self, x):
  class BasicEncoder_dx4 (line 234) | class BasicEncoder_dx4(nn.Module):
    method __init__ (line 235) | def __init__(self, output_dim=128, norm_fn='batch', dropout=0.0):
    method _make_layer (line 276) | def _make_layer(self, dim, stride=1):
    method forward (line 285) | def forward(self, x):
  class SmallEncoder (line 312) | class SmallEncoder(nn.Module):
    method __init__ (line 313) | def __init__(self, output_dim=128, norm_fn='batch', dropout=0.0):
    method _make_layer (line 352) | def _make_layer(self, dim, stride=1):
    method forward (line 361) | def forward(self, x):
  class SmallEncoder_dx4 (line 386) | class SmallEncoder_dx4(nn.Module):
    method __init__ (line 387) | def __init__(self, output_dim=128, norm_fn='batch', dropout=0.0):
    method _make_layer (line 427) | def _make_layer(self, dim, stride=1):
    method forward (line 436) | def forward(self, x):

FILE: thirdparty/raft/update.py
  class FlowHead (line 6) | class FlowHead(nn.Module):
    method __init__ (line 7) | def __init__(self, input_dim=128, hidden_dim=256):
    method forward (line 13) | def forward(self, x):
  class ConvGRU (line 16) | class ConvGRU(nn.Module):
    method __init__ (line 17) | def __init__(self, hidden_dim=128, input_dim=192+128):
    method forward (line 23) | def forward(self, h, x):
  class SepConvGRU (line 33) | class SepConvGRU(nn.Module):
    method __init__ (line 34) | def __init__(self, hidden_dim=128, input_dim=192+128):
    method forward (line 45) | def forward(self, h, x):
  class SmallMotionEncoder (line 62) | class SmallMotionEncoder(nn.Module):
    method __init__ (line 63) | def __init__(self, args):
    method forward (line 71) | def forward(self, flow, corr):
  class BasicMotionEncoder (line 79) | class BasicMotionEncoder(nn.Module):
    method __init__ (line 80) | def __init__(self, args):
    method forward (line 89) | def forward(self, flow, corr):
  class BasicMotionEncoderGeo (line 99) | class BasicMotionEncoderGeo(nn.Module):
    method __init__ (line 100) | def __init__(self, args):
    method forward (line 111) | def forward(self, flow, corr, corr_geo):
  class SmallUpdateBlock (line 128) | class SmallUpdateBlock(nn.Module):
    method __init__ (line 129) | def __init__(self, args, hidden_dim=96):
    method forward (line 135) | def forward(self, net, inp, corr, flow):
  class SmallUpdateBlockUpMask (line 143) | class SmallUpdateBlockUpMask(nn.Module):
    method __init__ (line 144) | def __init__(self, args, hidden_dim=96):
    method forward (line 154) | def forward(self, net, inp, corr, flow):
  class BasicUpdateBlock (line 164) | class BasicUpdateBlock(nn.Module):
    method __init__ (line 165) | def __init__(self, args, hidden_dim=128, input_dim=128, downsample_sca...
    method forward (line 178) | def forward(self, net, inp, corr, flow, upsample=True):
  class BasicUpdateBlockGeo (line 190) | class BasicUpdateBlockGeo(nn.Module):
    method __init__ (line 192) | def __init__(self, args, hidden_dim=128, input_dim=128, downsample_sca...
    method forward (line 205) | def forward(self, net, inp, corr, geo_corr, flow, upsample=True):

FILE: thirdparty/raft/utils/augmentor.py
  class FlowAugmentor (line 15) | class FlowAugmentor:
    method __init__ (line 16) | def __init__(self, crop_size, min_scale=-0.2, max_scale=0.5, do_flip=T...
    method color_transform (line 36) | def color_transform(self, img1, img2):
    method eraser_transform (line 52) | def eraser_transform(self, img1, img2, bounds=[50, 100]):
    method spatial_transform (line 67) | def spatial_transform(self, img1, img2, flow):
    method __call__ (line 111) | def __call__(self, img1, img2, flow):
  class SparseFlowAugmentor (line 122) | class SparseFlowAugmentor:
    method __init__ (line 123) | def __init__(self, crop_size, min_scale=-0.2, max_scale=0.5, do_flip=F...
    method color_transform (line 142) | def color_transform(self, img1, img2):
    method eraser_transform (line 148) | def eraser_transform(self, img1, img2):
    method resize_sparse_flow_map (line 161) | def resize_sparse_flow_map(self, flow, valid, fx=1.0, fy=1.0):
    method spatial_transform (line 195) | def spatial_transform(self, img1, img2, flow, valid):
    method __call__ (line 236) | def __call__(self, img1, img2, flow, valid):

FILE: thirdparty/raft/utils/flow_viz.py
  function make_colorwheel (line 20) | def make_colorwheel():
  function flow_uv_to_colors (line 70) | def flow_uv_to_colors(u, v, convert_to_bgr=False):
  function flow_to_image (line 109) | def flow_to_image(flow_uv, clip_flow=None, convert_to_bgr=False):

FILE: thirdparty/raft/utils/frame_utils.py
  function readFlow (line 12) | def readFlow(fn):
  function readPFM (line 33) | def readPFM(file):
  function writeFlow (line 70) | def writeFlow(filename,uv,v=None):
  function readFlowKITTI (line 102) | def readFlowKITTI(filename):
  function readDispKITTI (line 109) | def readDispKITTI(filename):
  function writeFlowKITTI (line 116) | def writeFlowKITTI(filename, uv):
  function read_gen (line 123) | def read_gen(file_name, pil=False):

FILE: thirdparty/raft/utils/utils.py
  class InputPadder (line 7) | class InputPadder:
    method __init__ (line 9) | def __init__(self, dims, mode='sintel'):
    method pad (line 18) | def pad(self, *inputs):
    method unpad (line 21) | def unpad(self,x):
  function forward_interpolate (line 26) | def forward_interpolate(flow):
  function bilinear_sampler (line 57) | def bilinear_sampler(img, coords, mode='bilinear', mask=False):
  function coords_grid (line 74) | def coords_grid(batch, ht, wd):
  function upflow8 (line 80) | def upflow8(flow, mode='bilinear'):
  function upflow (line 84) | def upflow(flow, mode='bilinear', scale=8):

FILE: thirdparty/vsd/inout.py
  function load_depth (line 10) | def load_depth(path):
  function load_ply (line 16) | def load_ply(path):

FILE: tools/eval.py
  function load_example_to_device (line 45) | def load_example_to_device(example,
  function build_network (line 60) | def build_network(model_cfg, measure_time=False, testing=False):
  function _worker_init_fn (line 66) | def _worker_init_fn(worker_id):
  function freeze_params (line 73) | def freeze_params(params: dict, include: str = None, exclude: str = None):
  function freeze_params_v2 (line 93) | def freeze_params_v2(params: dict, include: str = None, exclude: str = N...
  function filter_param_dict (line 110) | def filter_param_dict(state_dict: dict, include: str = None, exclude: st...
  function chk_rank (line 129) | def chk_rank(rank_, use_dist=False):
  function get_rank (line 139) | def get_rank(use_dist=False):
  function get_world (line 149) | def get_world(use_dist):
  function get_ngpus_per_node (line 157) | def get_ngpus_per_node():
  function multi_proc_train (line 162) | def multi_proc_train(
  function train_worker (line 227) | def train_worker(rank, params):
  function eval (line 257) | def eval(

FILE: tools/generate_data_info_deepim_0_orig.py
  function parse_pose_file (line 11) | def parse_pose_file(file):
  function parse_calib_file (line 24) | def parse_calib_file(file):
  function create_data_info (line 41) | def create_data_info(data_root, saving_path, with_assertion=True):

FILE: tools/generate_data_info_deepim_1_syn.py
  function parse_pose_file (line 11) | def parse_pose_file(file):
  function parse_calib_file (line 24) | def parse_calib_file(file):
  function create_data_info (line 38) | def create_data_info(data_root, saving_path, with_assertion=False ):

FILE: tools/generate_data_info_deepim_2_posecnnval.py
  function parse_pose_file (line 13) | def parse_pose_file(file):
  function parse_calib_file (line 26) | def parse_calib_file(file):
  function create_data_info (line 40) | def create_data_info(data_root, saving_path, with_assertion=True):

FILE: tools/generate_data_info_v2_deepim.py
  function parse_pose_file (line 11) | def parse_pose_file(file):
  function parse_calib_file (line 24) | def parse_calib_file(file):
  function create_data_info (line 40) | def create_data_info(data_root, saving_path, training_data_ratio=0.8, sh...

FILE: tools/train.py
  function load_example_to_device (line 45) | def load_example_to_device(example,
  function build_network (line 64) | def build_network(model_cfg, measure_time=False, testing=False):
  function _worker_init_fn (line 70) | def _worker_init_fn(worker_id):
  function freeze_params (line 77) | def freeze_params(params: dict, include: str = None, exclude: str = None):
  function freeze_params_v2 (line 97) | def freeze_params_v2(params: dict, include: str = None, exclude: str = N...
  function filter_param_dict (line 114) | def filter_param_dict(state_dict: dict, include: str = None, exclude: st...
  function chk_rank (line 133) | def chk_rank(rank_, use_dist=False):
  function get_rank (line 143) | def get_rank(use_dist=False):
  function get_world (line 153) | def get_world(use_dist):
  function get_ngpus_per_node (line 161) | def get_ngpus_per_node():
  function get_logger (line 164) | def get_logger():
  function multi_proc_train (line 176) | def multi_proc_train(
  function train_worker (line 242) | def train_worker(rank, params):
  function train (line 279) | def train(
  function eval_once (line 666) | def eval_once(net,

FILE: tools/transform_data_format.py
  function range_to_depth (line 19) | def range_to_depth(mask, range, K):
  function crop (line 36) | def crop(image, depth, mask, K_old, margin_ratio=0.1, output_size=128 ):
  class DataFormatter (line 87) | class DataFormatter(object):
    method __init__ (line 88) | def __init__(self, data_type, data_info_path, crop_param=None ):
    method process (line 97) | def process(self, data_root,depth_root, save_root):
    method _proc_LM_SYN_PVNET (line 110) | def _proc_LM_SYN_PVNET(self, data_info, data_root, save_root):
    method _proc_LM_SYN_PVNET_LMK (line 162) | def _proc_LM_SYN_PVNET_LMK(self, data_info, data_root, save_root):
    method _proc_LM_FUSE_PVNET (line 216) | def _proc_LM_FUSE_PVNET(self, data_info, data_root, depth_root, save_r...
    method _proc_LM_FUSE_SINGLE_PVNET (line 327) | def _proc_LM_FUSE_SINGLE_PVNET(self, data_info, data_root, depth_root,...
  function run (line 438) | def run(data_type,data_info_path, image_root, depth_root, save_dir, crop...

FILE: torchplus/metrics.py
  class Scalar (line 7) | class Scalar(nn.Module):
    method __init__ (line 8) | def __init__(self):
    method forward (line 13) | def forward(self, scalar):
    method value (line 20) | def value(self):
    method clear (line 23) | def clear(self):
  class Accuracy (line 27) | class Accuracy(nn.Module):
    method __init__ (line 28) | def __init__(self,
    method forward (line 41) | def forward(self, labels, preds, weights=None):
    method value (line 68) | def value(self):
    method clear (line 71) | def clear(self):
  class Precision (line 76) | class Precision(nn.Module):
    method __init__ (line 77) | def __init__(self, dim=1, ignore_idx=-1, threshold=0.5):
    method forward (line 85) | def forward(self, labels, preds, weights=None):
    method value (line 119) | def value(self):
    method clear (line 121) | def clear(self):
  class Recall (line 126) | class Recall(nn.Module):
    method __init__ (line 127) | def __init__(self, dim=1, ignore_idx=-1, threshold=0.5):
    method forward (line 135) | def forward(self, labels, preds, weights=None):
    method value (line 167) | def value(self):
    method clear (line 169) | def clear(self):
  function _calc_binary_metrics (line 174) | def _calc_binary_metrics(labels,
  class PrecisionRecall (line 195) | class PrecisionRecall(nn.Module):
    method __init__ (line 196) | def __init__(self,
    method forward (line 221) | def forward(self, labels, preds, weights=None):
    method value (line 267) | def value(self):
    method thresholds (line 274) | def thresholds(self):
    method clear (line 277) | def clear(self):

FILE: torchplus/nn/functional.py
  function one_hot (line 3) | def one_hot(tensor, depth, dim=-1, on_value=1.0, dtype=torch.float32):

FILE: torchplus/nn/modules/common.py
  class Empty (line 8) | class Empty(torch.nn.Module):
    method __init__ (line 9) | def __init__(self, *args, **kwargs):
    method forward (line 13) | def forward(self, *args, **kwargs):
  class Sequential (line 21) | class Sequential(torch.nn.Module):
    method __init__ (line 53) | def __init__(self, *args, **kwargs):
    method __getitem__ (line 68) | def __getitem__(self, idx):
    method __len__ (line 78) | def __len__(self):
    method add (line 81) | def add(self, module, name=None):
    method forward (line 88) | def forward(self, input):

FILE: torchplus/nn/modules/normalization.py
  class GroupNorm (line 4) | class GroupNorm(torch.nn.GroupNorm):
    method __init__ (line 5) | def __init__(self, num_channels, num_groups, eps=1e-5, affine=True):

FILE: torchplus/ops/array_ops.py
  function scatter_nd (line 8) | def scatter_nd(indices, updates, shape):
  function gather_nd (line 24) | def gather_nd(params, indices):
  function roll (line 34) | def roll(x: torch.Tensor, shift: int, dim: int = -1, fill_pad: Optional[...

FILE: torchplus/tools.py
  function get_pos_to_kw_map (line 11) | def get_pos_to_kw_map(func):
  function get_kw_to_default_map (line 22) | def get_kw_to_default_map(func):
  function change_default_args (line 47) | def change_default_args(**kwargs):
  function torch_to_np_dtype (line 61) | def torch_to_np_dtype(ttype):

FILE: torchplus/train/checkpoint.py
  class DelayedKeyboardInterrupt (line 10) | class DelayedKeyboardInterrupt(object):
    method __enter__ (line 11) | def __enter__(self):
    method handler (line 15) | def handler(self, sig, frame):
    method __exit__ (line 19) | def __exit__(self, type, value, traceback):
  function latest_checkpoint (line 25) | def latest_checkpoint(model_dir, model_name):
  function _ordered_unique (line 49) | def _ordered_unique(seq):
  function save (line 54) | def save(model_dir,
  function restore (line 118) | def restore(ckpt_path, model, map_func=None, map_location='cpu'):
  function _check_model_names (line 129) | def _check_model_names(models):
  function _get_name_to_model_map (line 140) | def _get_name_to_model_map(models):
  function try_restore_latest_checkpoints (line 149) | def try_restore_latest_checkpoints(model_dir, models, map_func=None, map...
  function restore_latest_checkpoints (line 157) | def restore_latest_checkpoints(model_dir, models, map_func=None,  map_lo...
  function restore_models (line 167) | def restore_models(model_dir, models, global_step, map_func=None, map_lo...
  function save_models (line 175) | def save_models(model_dir,
  function gpu_to_cpu (line 186) | def gpu_to_cpu(models):
  function cpu_to_gpu (line 197) | def cpu_to_gpu(models):
  function save_models_cpu (line 208) | def save_models_cpu(model_dir,

FILE: torchplus/train/common.py
  function create_folder (line 5) | def create_folder(prefix, add_time=True, add_str=None, delete=False):

FILE: torchplus/train/fastai_optim.py
  function split_bn_bias (line 14) | def split_bn_bias(layer_groups):
  function get_master (line 28) | def get_master(layer_groups, flat_master: bool = False):
  function model_g2master_g (line 55) | def model_g2master_g(model_params, master_params,
  function master2model (line 75) | def master2model(model_params, master_params,
  function listify (line 92) | def listify(p=None, q=None):
  function trainable_params (line 107) | def trainable_params(m: nn.Module):
  function is_tuple (line 114) | def is_tuple(x) -> bool:
  class OptimWrapper (line 119) | class OptimWrapper(torch.optim.Optimizer):
    method __init__ (line 122) | def __init__(self, opt, wd, true_wd: bool = False, bn_wd: bool = True):
    method create (line 131) | def create(cls, opt_func, lr, layer_groups, **kwargs):
    method new (line 161) | def new(self, layer_groups):
    method __repr__ (line 177) | def __repr__(self) -> str:
    method step (line 181) | def step(self) -> None:
    method zero_grad (line 196) | def zero_grad(self) -> None:
    method __getstate__ (line 201) | def __getstate__(self):
    method __setstate__ (line 204) | def __setstate__(self, state):
    method state_dict (line 207) | def state_dict(self):
    method load_state_dict (line 210) | def load_state_dict(self, state_dict):
    method add_param_group (line 213) | def add_param_group(self, param_group):
    method clear (line 216) | def clear(self):
    method param_groups (line 223) | def param_groups(self):
    method defaults (line 227) | def defaults(self):
    method state (line 231) | def state(self):
    method lr (line 236) | def lr(self) -> float:
    method lr (line 240) | def lr(self, val: float) -> None:
    method mom (line 244) | def mom(self) -> float:
    method mom (line 248) | def mom(self, val: float) -> None:
    method beta (line 256) | def beta(self) -> float:
    method beta (line 260) | def beta(self, val: float) -> None:
    method wd (line 271) | def wd(self) -> float:
    method wd (line 275) | def wd(self, val: float) -> None:
    method read_defaults (line 283) | def read_defaults(self) -> None:
    method set_val (line 297) | def set_val(self, key: str, val, bn_groups: bool = True):
    method read_val (line 308) | def read_val(self, key: str):
  class FastAIMixedOptim (line 316) | class FastAIMixedOptim(OptimWrapper):
    method create (line 318) | def create(cls,
    method step (line 345) | def step(self):

FILE: torchplus/train/learning_schedules.py
  class _LRSchedulerStep (line 6) | class _LRSchedulerStep(object):
    method __init__ (line 7) | def __init__(self, optimizer, last_step=-1):
    method get_lr (line 32) | def get_lr(self):
    method _get_lr_per_group (line 36) | def _get_lr_per_group(self, base_lr):
    method step (line 39) | def step(self, step=None):
  class Constant (line 47) | class Constant(_LRSchedulerStep):
    method __init__ (line 48) | def __init__(self, optimizer, last_step=-1):
    method _get_lr_per_group (line 51) | def _get_lr_per_group(self, base_lr):
  class ManualStepping (line 55) | class ManualStepping(_LRSchedulerStep):
    method __init__ (line 60) | def __init__(self, optimizer, boundaries, rates, last_step=-1):
    method _get_lr_per_group (line 79) | def _get_lr_per_group(self, base_lr):
  class ExponentialDecayWithBurnin (line 90) | class ExponentialDecayWithBurnin(_LRSchedulerStep):
    method __init__ (line 94) | def __init__(self,
    method _get_lr_per_group (line 108) | def _get_lr_per_group(self, base_lr):
  class ExponentialDecay (line 120) | class ExponentialDecay(_LRSchedulerStep):
    method __init__ (line 121) | def __init__(self,
    method _get_lr_per_group (line 133) | def _get_lr_per_group(self, base_lr):
  class CosineDecayWithWarmup (line 145) | class CosineDecayWithWarmup(_LRSchedulerStep):
    method __init__ (line 146) | def __init__(self,
    method _get_lr_per_group (line 161) | def _get_lr_per_group(self, base_lr):
  class OneCycle (line 181) | class OneCycle(_LRSchedulerStep):
    method __init__ (line 182) | def __init__(self,
    method _get_lr_per_group (line 202) | def _get_lr_per_group(self, base_lr):

FILE: torchplus/train/learning_schedules_fastai.py
  class LRSchedulerStep (line 7) | class LRSchedulerStep(object):
    method __init__ (line 8) | def __init__(self, fai_optimizer, total_step, lr_phases, mom_phases):
    method step (line 43) | def step(self, step):
    method learning_rate (line 64) | def learning_rate(self):
  function annealing_cos (line 68) | def annealing_cos(start, end, pct):
  class OneCycle (line 75) | class OneCycle(LRSchedulerStep):
    method __init__ (line 76) | def __init__(self, fai_optimizer, total_step, lr_max, moms, div_factor,
  class ExponentialDecayWarmup (line 97) | class ExponentialDecayWarmup(LRSchedulerStep):
    method __init__ (line 98) | def __init__(self,
  class ExponentialDecay (line 135) | class ExponentialDecay(LRSchedulerStep):
    method __init__ (line 136) | def __init__(self,
  class ManualStepping (line 167) | class ManualStepping(LRSchedulerStep):
    method __init__ (line 168) | def __init__(self, fai_optimizer, total_step, boundaries, rates):
  class FakeOptim (line 179) | class FakeOptim:
    method __init__ (line 180) | def __init__(self):

FILE: torchplus/train/optim.py
  function param_fp32_copy (line 10) | def param_fp32_copy(params):
  function set_grad (line 18) | def set_grad(params, params_with_grad, scale=1.0):
  class MixedPrecisionWrapper (line 31) | class MixedPrecisionWrapper(object):
    method __init__ (line 42) | def __init__(self,
    method __getstate__ (line 70) | def __getstate__(self):
    method __setstate__ (line 73) | def __setstate__(self, state):
    method __repr__ (line 76) | def __repr__(self):
    method state_dict (line 79) | def state_dict(self):
    method load_state_dict (line 82) | def load_state_dict(self, state_dict):
    method zero_grad (line 85) | def zero_grad(self):
    method step (line 88) | def step(self, closure=None):

FILE: utils/config_io.py
  function mkdir_if_not_exists (line 8) | def mkdir_if_not_exists(path):
  function read_yaml (line 17) | def read_yaml(filename):
  function copy_file (line 31) | def copy_file(src_file, tgt_file):
  function update_dict (line 40) | def update_dict(dict1, dict2, intersection=False):
  function merge_cfg (line 68) | def merge_cfg(cfg_files, intersection=False):
  function write_cfg (line 88) | def write_cfg(default, custom, f, level_cnt=0):
  function save_cfg (line 123) | def save_cfg(cfg_files, file_path):

FILE: utils/distributed_utils.py
  class ParallelWrapper (line 12) | class ParallelWrapper(Module):
    method __init__ (line 13) | def __init__(self, net, parallel_mode='none'):
    method forward (line 27) | def forward(self, *inputs, **kwargs):
    method train (line 30) | def train(self, mode=True):
  class DistModule (line 35) | class DistModule(Module):
    method __init__ (line 36) | def __init__(self, module):
    method forward (line 41) | def forward(self, *inputs, **kwargs):
    method train (line 44) | def train(self, mode=True):
  function gradients_multiply (line 48) | def gradients_multiply(model, multiplier=1):
  function average_gradients (line 53) | def average_gradients(model):
  function broadcast_params (line 68) | def broadcast_params(model):
  function dist_init (line 74) | def dist_init(port):
  class DistributedSequatialSampler (line 117) | class DistributedSequatialSampler(Sampler):
    method __init__ (line 135) | def __init__(self, dataset, num_replicas=None, rank=None):
    method __iter__ (line 154) | def __iter__(self):
    method __len__ (line 171) | def __len__(self):
    method set_epoch (line 174) | def set_epoch(self, epoch):
  class DistributedGivenIterationSampler (line 178) | class DistributedGivenIterationSampler(Sampler):
    method __init__ (line 179) | def __init__(self, dataset, total_iter, batch_size, world_size=None, r...
    method __iter__ (line 197) | def __iter__(self):
    method gen_new_list (line 206) | def gen_new_list(self):
    method __len__ (line 227) | def __len__(self):
    method set_epoch (line 234) | def set_epoch(self, epoch):
  class DistributedGivenIterationSamplerEpoch (line 238) | class DistributedGivenIterationSamplerEpoch(Sampler):
    method __init__ (line 239) | def __init__(self, dataset, total_iter, batch_size, world_size=None, r...
    method __iter__ (line 257) | def __iter__(self):
    method gen_new_list (line 266) | def gen_new_list(self):
    method __len__ (line 306) | def __len__(self):
    method set_epoch (line 313) | def set_epoch(self, epoch):

FILE: utils/eval_metric.py
  function get_ply_model (line 18) | def get_ply_model(model_path, scale=1):
  function project (line 28) | def project(xyz, K, RT):
  function find_nearest_point_idx (line 40) | def find_nearest_point_idx(ref_pts, que_pts):
  class LineMODEvaluator (line 59) | class LineMODEvaluator:
    method __init__ (line 60) | def __init__(self, class_name, result_dir, icp_refine=False):
    method projection_2d (line 102) | def projection_2d(self, pose_pred, pose_targets, K, icp=False, thresho...
    method projection_2d_sym (line 112) | def projection_2d_sym(self, pose_pred, pose_targets, K, threshold=5):
    method add2_metric (line 120) | def add2_metric(self, pose_pred, pose_targets, icp=False, syn=False, p...
    method add5_metric (line 140) | def add5_metric(self, pose_pred, pose_targets, icp=False, syn=False, p...
    method add_metric (line 161) | def add_metric(self, pose_pred, pose_targets, icp=False, syn=False, pe...
    method cm_degree_5_metric (line 181) | def cm_degree_5_metric(self, pose_pred, pose_targets, icp=False):
    method mask_iou (line 194) | def mask_iou(self, output, batch):
    method icp_refine (line 201) | def icp_refine(self, pose_pred, anno, output, K):
    method icp_refine_ (line 220) | def icp_refine_(self, pose, anno, output):
    method summarize (line 261) | def summarize(self):
    method evaluate_rnnpose (line 306) | def evaluate_rnnpose(self, preds_dict, example): # sample_corresponden...

FILE: utils/furthest_point_sample.py
  function fragmentation_fps (line 6) | def fragmentation_fps(vertices, num_frags):

FILE: utils/geometric.py
  function range_to_depth (line 4) | def range_to_depth(mask, range, K):
  function mask_depth_to_point_cloud (line 22) | def mask_depth_to_point_cloud(mask,depth,K):
  function chordal_distance (line 36) | def chordal_distance(R1,R2):
  function rotation_angle (line 39) | def rotation_angle(R1, R2):
  function render_pointcloud (line 42) | def render_pointcloud(pc, T, K, render_image_size):

FILE: utils/img_utils.py
  function read_depth (line 9) | def read_depth(path):
  function unnormalize_img (line 19) | def unnormalize_img(img, mean, std, in_gpu=True):
  function draw_seg_th (line 32) | def draw_seg_th(seg, num_cls=-1):
  function draw_seg_prob_th (line 50) | def draw_seg_prob_th(seg_prob):
  function draw_vertex_th (line 59) | def draw_vertex_th(vertex):
  function visualize_coco_bbox (line 70) | def visualize_coco_bbox(img, boxes):
  function visualize_heatmap (line 84) | def visualize_heatmap(img, hm):
  function visualize_coco_img_mask (line 101) | def visualize_coco_img_mask(img, mask):
  function visualize_color_aug (line 108) | def visualize_color_aug(orig_img, aug_img):
  function visualize_coco_ann (line 115) | def visualize_coco_ann(coco, img, ann):
  function bgr_to_rgb (line 121) | def bgr_to_rgb(img):

FILE: utils/log_tool.py
  function _flat_nested_json_dict (line 9) | def _flat_nested_json_dict(json_dict, flatted, sep=".", start=""):
  function flat_nested_json_dict (line 17) | def flat_nested_json_dict(json_dict, sep=".") -> dict:
  function metric_to_str (line 29) | def metric_to_str(metrics, sep='.'):
  class SimpleModelLog (line 46) | class SimpleModelLog:
    method __init__ (line 57) | def __init__(self, model_dir, disable=False):
    method open (line 70) | def open(self):
    method close (line 89) | def close(self):
    method log_text (line 102) | def log_text(self, text, step, tag="regular log"):
    method log_metrics (line 119) | def log_metrics(self, metrics: dict, step):
    method log_images (line 140) | def log_images(self, images: dict, step, prefix=''):
    method log_histograms (line 147) | def log_histograms(self, vals: dict, step, prefix=''):

FILE: utils/pose_utils.py
  function pose_padding (line 22) | def pose_padding(P):
  function vdot (line 35) | def vdot(v1, v2):
  function normalize (line 47) | def normalize(x, p=2, dim=0):
  function qmult (line 60) | def qmult(q1, q2):
  function qinv (line 81) | def qinv(q):
  function qexp_t (line 91) | def qexp_t(q):
  function qlog_t (line 105) | def qlog_t(q):
  function qexp_t_safe (line 118) | def qexp_t_safe(q):
  function qlog_t_safe (line 130) | def qlog_t_safe(q):
  function rotate_vec_by_q (line 142) | def rotate_vec_by_q(t, q):
  function compose_pose_quaternion (line 157) | def compose_pose_quaternion(p1, p2):
  function invert_pose_quaternion (line 173) | def invert_pose_quaternion(p):
  function calc_vo (line 185) | def calc_vo(p0, p1):
  function calc_vo_logq (line 195) | def calc_vo_logq(p0, p1):
  function calc_vo_relative (line 210) | def calc_vo_relative(p0, p1):
  function calc_vo_relative_logq (line 221) | def calc_vo_relative_logq(p0, p1):
  function calc_vo_relative_logq_safe (line 236) | def calc_vo_relative_logq_safe(p0, p1):
  function calc_vo_logq_safe (line 251) | def calc_vo_logq_safe(p0, p1):
  function calc_vos_simple (line 267) | def calc_vos_simple(poses):
  function calc_vos (line 283) | def calc_vos(poses):
  function calc_vos_relative (line 298) | def calc_vos_relative(poses):
  function calc_vos_safe (line 313) | def calc_vos_safe(poses):
  function calc_vos_safe_fc (line 328) | def calc_vos_safe_fc(poses):
  function qlog (line 348) | def qlog(q):
  function qexp (line 361) | def qexp(q):
  function process_poses (line 372) | def process_poses(poses_in, mean_t, std_t, align_R, align_t, align_s):
  function log_quaternion_angular_error (line 403) | def log_quaternion_angular_error(q1, q2):
  function quaternion_angular_error (line 407) | def quaternion_angular_error(q1, q2):
  function skew (line 420) | def skew(x):
  function dpq_q (line 430) | def dpq_q(p):
  function dpsq_q (line 444) | def dpsq_q(p):
  function dpsq_p (line 458) | def dpsq_p(q):
  function dqstq_q (line 472) | def dqstq_q(q, t):
  function dqstq_t (line 487) | def dqstq_t(q):
  function m_rot (line 498) | def m_rot(x):
  class PoseGraph (line 512) | class PoseGraph:
    method __init__ (line 513) | def __init__(self):
    method jacobian (line 522) | def jacobian(self, L_ax, L_aq, L_rx, L_rq):
    method residuals (line 564) | def residuals(self, poses, vos, L_ax, L_aq, L_rx, L_rq):
    method update_on_manifold (line 605) | def update_on_manifold(self, x):
    method optimize (line 630) | def optimize(self, poses, vos, sax=1, saq=1, srx=1, srq=1, n_iters=10):
  class PoseGraphFC (line 669) | class PoseGraphFC:
    method __init__ (line 670) | def __init__(self):
    method jacobian (line 680) | def jacobian(self, L_ax, L_aq, L_rx, L_rq):
    method residuals (line 723) | def residuals(self, poses, vos, L_ax, L_aq, L_rx, L_rq):
    method update_on_manifold (line 767) | def update_on_manifold(self, x):
    method optimize (line 792) | def optimize(self, poses, vos, sax=1, saq=1, srx=1, srq=1, n_iters=10):
  function optimize_poses (line 831) | def optimize_poses(pred_poses, vos=None, fc_vos=False, target_poses=None,
  function align_3d_pts (line 865) | def align_3d_pts(x1, x2):
  function align_2d_pts (line 914) | def align_2d_pts(x1, x2):
  function align_3d_pts_noscale (line 963) | def align_3d_pts_noscale(x1, x2):
  function align_2d_pts_noscale (line 1012) | def align_2d_pts_noscale(x1, x2):
  function align_camera_poses (line 1062) | def align_camera_poses(o1, o2, R1, R2, use_rotation_constraint=True):
  function test_align_3d_pts (line 1137) | def test_align_3d_pts():
  function test_align_camera_poses (line 1158) | def test_align_camera_poses():
  function pgo_test_poses (line 1189) | def pgo_test_poses():
  function pgo_test_poses1 (line 1214) | def pgo_test_poses1():
  function print_poses (line 1240) | def print_poses(poses):
  function test_pgo (line 1249) | def test_pgo():
  function test_pose_utils (line 1267) | def test_pose_utils():
  function test_q_error (line 1327) | def test_q_error():
  function test_log_q_error (line 1340) | def test_log_q_error():

FILE: utils/pose_utils_np.py
  function tq2RT (line 24) | def tq2RT(poses, square=False):
  function RT2tq (line 41) | def RT2tq(poses, square=False):
  function pose_interp (line 58) | def pose_interp(poses, timestamps_in, timestamps_out, r_interp='slerp'):
  function vdot (line 114) | def vdot(v1, v2):
  function normalize (line 127) | def normalize(x, p=2, dim=0, eps=1e-6):
  function qmult (line 144) | def qmult(q1, q2):
  function qinv (line 166) | def qinv(q):
  function qexp_t (line 177) | def qexp_t(q):
  function qlog_t (line 191) | def qlog_t(q):
  function qexp_t_safe (line 204) | def qexp_t_safe(q):
  function qlog_t_safe (line 216) | def qlog_t_safe(q):
  function rotate_vec_by_q (line 228) | def rotate_vec_by_q(t, q):
  function compose_pose_quaternion (line 246) | def compose_pose_quaternion(p1, p2):
  function invert_pose_quaternion (line 264) | def invert_pose_quaternion(p):
  function calc_vo (line 276) | def calc_vo(p0, p1):
  function calc_vo_logq (line 286) | def calc_vo_logq(p0, p1):
  function calc_vo_relative (line 301) | def calc_vo_relative(p0, p1):
  function calc_vo_relative_logq (line 312) | def calc_vo_relative_logq(p0, p1):
  function calc_vo_relative_logq_safe (line 327) | def calc_vo_relative_logq_safe(p0, p1):
  function calc_vo_logq_safe (line 342) | def calc_vo_logq_safe(p0, p1):
  function calc_vos_simple (line 358) | def calc_vos_simple(poses):
  function calc_vos (line 374) | def calc_vos(poses):
  function calc_vos_relative (line 389) | def calc_vos_relative(poses):
  function calc_vos_safe (line 404) | def calc_vos_safe(poses):
  function calc_vos_safe_fc (line 419) | def calc_vos_safe_fc(poses):
  function qlog (line 439) | def qlog(q):
  function qexp (line 452) | def qexp(q):
  function process_poses (line 463) | def process_poses(poses_in, mean_t, std_t, align_R, align_t, align_s):
  function log_quaternion_angular_error (line 494) | def log_quaternion_angular_error(q1, q2):
  function quaternion_angular_error (line 498) | def quaternion_angular_error(q1, q2):
  function skew (line 511) | def skew(x):
  function dpq_q (line 521) | def dpq_q(p):
  function dpsq_q (line 535) | def dpsq_q(p):
  function dpsq_p (line 549) | def dpsq_p(q):
  function dqstq_q (line 563) | def dqstq_q(q, t):
  function dqstq_t (line 578) | def dqstq_t(q):
  function m_rot (line 589) | def m_rot(x):
  class PoseGraph (line 603) | class PoseGraph:
    method __init__ (line 604) | def __init__(self):
    method jacobian (line 613) | def jacobian(self, L_ax, L_aq, L_rx, L_rq):
    method residuals (line 655) | def residuals(self, poses, vos, L_ax, L_aq, L_rx, L_rq):
    method update_on_manifold (line 696) | def update_on_manifold(self, x):
    method optimize (line 721) | def optimize(self, poses, vos, sax=1, saq=1, srx=1, srq=1, n_iters=10):
  class PoseGraphFC (line 760) | class PoseGraphFC:
    method __init__ (line 761) | def __init__(self):
    method jacobian (line 771) | def jacobian(self, L_ax, L_aq, L_rx, L_rq):
    method residuals (line 814) | def residuals(self, poses, vos, L_ax, L_aq, L_rx, L_rq):
    method update_on_manifold (line 858) | def update_on_manifold(self, x):
    method optimize (line 883) | def optimize(self, poses, vos, sax=1, saq=1, srx=1, srq=1, n_iters=10):
  function optimize_poses (line 922) | def optimize_poses(pred_poses, vos=None, fc_vos=False, target_poses=None,
  function align_3d_pts (line 956) | def align_3d_pts(x1, x2):
  function align_2d_pts (line 1005) | def align_2d_pts(x1, x2):
  function align_3d_pts_noscale (line 1054) | def align_3d_pts_noscale(x1, x2):
  function align_2d_pts_noscale (line 1103) | def align_2d_pts_noscale(x1, x2):
  function align_camera_poses (line 1153) | def align_camera_poses(o1, o2, R1, R2, use_rotation_constraint=True):
  function test_align_3d_pts (line 1228) | def test_align_3d_pts():
  function test_align_camera_poses (line 1249) | def test_align_camera_poses():
  function pgo_test_poses (line 1280) | def pgo_test_poses():
  function pgo_test_poses1 (line 1305) | def pgo_test_poses1():
  function print_poses (line 1331) | def print_poses(poses):
  function test_pgo (line 1340) | def test_pgo():
  function test_pose_utils (line 1358) | def test_pose_utils():
  function test_q_error (line 1418) | def test_q_error():
  function test_log_q_error (line 1431) | def test_log_q_error():

FILE: utils/progress_bar.py
  function progress_str (line 9) | def progress_str(val, *args, width=20, with_ptg=True):
  function second_to_time_str (line 29) | def second_to_time_str(second, omit_hours_if_possible=True):
  function progress_bar_iter (line 39) | def progress_bar_iter(task_list, width=20, with_ptg=True, step_time_aver...
  function enumerate_bar (line 67) | def enumerate_bar(task_list, width=20, with_ptg=True, step_time_average=...
  function max_point_str (line 93) | def max_point_str(val, max_point):
  class Unit (line 107) | class Unit(enum.Enum):
  function convert_size (line 112) | def convert_size(size_bytes):
  class ProgressBar (line 123) | class ProgressBar:
    method __init__ (line 124) | def __init__(self,
    method start (line 137) | def start(self, total_size):
    method print_bar (line 146) | def print_bar(self, finished_size=1, pre_string=None, post_string=None):

FILE: utils/rand_utils.py
  function truncated_normal (line 3) | def truncated_normal(u, sigma, min, max, shape=None):

FILE: utils/singleton.py
  class Singleton (line 3) | class Singleton(type):
    method __call__ (line 5) | def __call__(cls, *args, **kwargs):

FILE: utils/timer.py
  function simple_timer (line 6) | def simple_timer(name=''):
  function singleton (line 12) | def singleton(class_):
  class timming (line 21) | class timming(object):
    method __init__ (line 22) | def __init__(self):
    method start (line 26) | def start(self, item_name):
    method end (line 46) | def end(self, item_name):
    method summarize (line 57) | def summarize(self):

FILE: utils/util.py
  function freeze_params (line 7) | def freeze_params(params: dict, include: str = None, exclude: str = None):
  function freeze_params_v2 (line 27) | def freeze_params_v2(params: dict, include: str = None, exclude: str = N...
  function filter_param_dict (line 44) | def filter_param_dict(state_dict: dict, include: str = None, exclude: st...
  function modify_parameter_name_with_map (line 63) | def modify_parameter_name_with_map(state_dict, parameteter_name_map=None):
  function load_pretrained_model_map_func (line 73) | def load_pretrained_model_map_func(state_dict,parameteter_name_map = Non...
  function list_recursive_op (line 79) | def list_recursive_op(input_list, op):
  function dict_recursive_op (line 93) | def dict_recursive_op(input_dict, op):

FILE: utils/visualize.py
  function vis_pointclouds_cv2 (line 5) | def vis_pointclouds_cv2(pc, K, win_size, init_transform=None, color=None...
  function vis_2d_keypoints_cv2 (line 30) | def vis_2d_keypoints_cv2(img, keypoints, color=None):
  function get_model_corners (line 45) | def get_model_corners(model):
  function vis_pose_box (line 61) | def vis_pose_box(RT,K, model, background=None,fig=None, ax=None, title='...