SYMBOL INDEX (727 symbols across 50 files)

FILE: data_generator/modify_material.py
  function modify_material (line 6) | def modify_material(mat_links, mat_nodes, material_name, mat_randomize_m...
  function set_modify_material (line 1612) | def set_modify_material(obj, material, obj_texture_img_list, mat_randomi...
  function set_modify_raw_material (line 1661) | def set_modify_raw_material(obj):
  function set_modify_table_material (line 1680) | def set_modify_table_material(obj, material, selected_realtable_img):
  function set_modify_floor_material (line 1704) | def set_modify_floor_material(obj, material, selected_realfloor_img):
  function set_modify_arm_material (line 1734) | def set_modify_arm_material(obj, material):

FILE: data_generator/render_pile_STD_rand.py
  function obj_centered_camera_pos (line 108) | def obj_centered_camera_pos(dist, azimuth_deg, elevation_deg):
  function quaternionFromYawPitchRoll (line 116) | def quaternionFromYawPitchRoll(yaw, pitch, roll):
  function camPosToQuaternion (line 129) | def camPosToQuaternion(cx, cy, cz):
  function camRotQuaternion (line 158) | def camRotQuaternion(cx, cy, cz, theta):
  function quaternionProduct (line 170) | def quaternionProduct(qx, qy):
  function quaternionToRotation (line 185) | def quaternionToRotation(q):
  function quaternionToRotation_xyzw (line 201) | def quaternionToRotation_xyzw(q):
  function quaternionFromRotMat (line 217) | def quaternionFromRotMat(rotation_matrix):
  function quaternionFromRotMat_xyzw (line 244) | def quaternionFromRotMat_xyzw(rotation_matrix):
  function rotVector (line 271) | def rotVector(q, vector_ori):
  function cameraLPosToCameraRPos (line 281) | def cameraLPosToCameraRPos(q_l, pos_l, baseline_dis):
  function getRTFromAToB (line 289) | def getRTFromAToB(pointCloudA, pointCloudB):
  function cameraPositionRandomize (line 308) | def cameraPositionRandomize(start_point_range, look_at_range, up_range):
  function add_noise_to_transformation_matrix (line 347) | def add_noise_to_transformation_matrix(Rot, Trans, angle_std=2, translat...
  function genCameraPosition (line 358) | def genCameraPosition(look_at):
  function quanternion_mul (line 424) | def quanternion_mul(q1, q2):
  class BlenderRenderer (line 434) | class BlenderRenderer(object):
    method __init__ (line 436) | def __init__(self, viewport_size_x=640, viewport_size_y=360):
    method loadImages (line 555) | def loadImages(self, pattern_path, env_map_path, real_table_image_root...
    method addEnvMap (line 587) | def addEnvMap(self):
    method setEnvMap (line 626) | def setEnvMap(self, env_map_id, rotation_elur_z):
    method addMaskMaterial (line 638) | def addMaskMaterial(self, num=20):
    method addNOCSMaterial (line 692) | def addNOCSMaterial(self):
    method addNormalMaterial (line 730) | def addNormalMaterial(self):
    method addMaterialLib (line 915) | def addMaterialLib(self, material_class_instance_pairs):
    method setCamera (line 926) | def setCamera(self, quaternion, translation, fov, baseline_distance):
    method setLighting (line 953) | def setLighting(self):
    method lightModeSelect (line 1016) | def lightModeSelect(self, light_mode):
    method outputModeSelect (line 1037) | def outputModeSelect(self, output_mode):
    method renderEngineSelect (line 1082) | def renderEngineSelect(self, engine_mode):
    method addBackground (line 1120) | def addBackground(self, size, position, scale):
    method clearModel (line 1185) | def clearModel(self):
    method loadModel (line 1208) | def loadModel(self, file_path):
    method render (line 1224) | def render(self, image_name="tmp", image_path=RENDERING_PATH):
    method set_material_randomize_mode (line 1284) | def set_material_randomize_mode(self, class_material_pairs, mat_random...
    method get_instance_pose (line 1300) | def get_instance_pose(self):
    method check_visible (line 1326) | def check_visible(self, threshold=(0.1, 0.9, 0.1, 0.9)):
  function setModelPosition (line 1345) | def setModelPosition(instance, location, quaternion):
  function setRigidBody (line 1353) | def setRigidBody(instance):
  function set_visiable_objects (line 1369) | def set_visiable_objects(visible_objects_list):
  function generate_CAD_model_list (line 1377) | def generate_CAD_model_list(urdf_path_list):
  function generate_material_type (line 1390) | def generate_material_type(obj_name, class_material_pairs, instance_mate...

FILE: scripts/sim_grasp.py
  function main (line 6) | def main(args, round_idx, gpuid, render_frame_list):
  class ArgumentParserForBlender (line 37) | class ArgumentParserForBlender(argparse.ArgumentParser):
    method _get_argv_after_doubledash (line 54) | def _get_argv_after_doubledash(self):
    method parse_args (line 67) | def parse_args(self):

FILE: scripts/stat_expresult.py
  class Data (line 12) | class Data(object):
    method __init__ (line 15) | def __init__(self, logdir):
    method num_rounds (line 20) | def num_rounds(self):
    method num_grasps (line 23) | def num_grasps(self):
    method success_rate (line 26) | def success_rate(self):
    method percent_cleared (line 29) | def percent_cleared(self):
    method avg_planning_time (line 39) | def avg_planning_time(self):
    method read_grasp (line 42) | def read_grasp(self, i):

FILE: src/gd/baselines.py
  class GPD (line 13) | class GPD(object):
    method __init__ (line 14) | def __init__(self):
    method __call__ (line 19) | def __call__(self, state):
    method to_grasp_list (line 32) | def to_grasp_list(self, grasp_configs):

FILE: src/gd/dataset.py
  class Dataset (line 10) | class Dataset(torch.utils.data.Dataset):
    method __init__ (line 11) | def __init__(self, root, augment=False):
    method __len__ (line 16) | def __len__(self):
    method __getitem__ (line 19) | def __getitem__(self, i):
  function apply_transform (line 41) | def apply_transform(voxel_grid, orientation, position):

FILE: src/gd/detection.py
  class VGN (line 13) | class VGN(object):
    method __init__ (line 14) | def __init__(self, model_path, rviz=False):
    method __call__ (line 19) | def __call__(self, state):
  function predict (line 43) | def predict(tsdf_vol, net, device):
  function process (line 60) | def process(
  function select (line 90) | def select(qual_vol, rot_vol, width_vol, threshold=0.90, max_filter_size...
  function select_index (line 109) | def select_index(qual_vol, rot_vol, width_vol, index):

FILE: src/gd/experiments/clutter_removal.py
  function copydirs (line 19) | def copydirs(from_file, to_file):
  function run (line 30) | def run(
  class Logger (line 153) | class Logger(object):
    method __init__ (line 154) | def __init__(self, log_root_dir, expname, description, round_idx):
    method _create_csv_files_if_needed (line 163) | def _create_csv_files_if_needed(self):
    method last_round_id (line 186) | def last_round_id(self):
    method log_round (line 190) | def log_round(self, round_id, object_count):
    method log_grasp (line 193) | def log_grasp(self, round_id, timings, grasp, score, label):
  class Data (line 221) | class Data(object):
    method __init__ (line 224) | def __init__(self, logdir):
    method num_rounds (line 229) | def num_rounds(self):
    method num_grasps (line 232) | def num_grasps(self):
    method success_rate (line 235) | def success_rate(self):
    method percent_cleared (line 238) | def percent_cleared(self):
    method avg_planning_time (line 248) | def avg_planning_time(self):
    method read_grasp (line 251) | def read_grasp(self, i):

FILE: src/gd/grasp.py
  class Label (line 4) | class Label(enum.IntEnum):
  class Grasp (line 9) | class Grasp(object):
    method __init__ (line 15) | def __init__(self, pose, width):
  function to_voxel_coordinates (line 20) | def to_voxel_coordinates(grasp, voxel_size):
  function from_voxel_coordinates (line 27) | def from_voxel_coordinates(grasp, voxel_size):

FILE: src/gd/io.py
  function write_setup (line 12) | def write_setup(root, size, intrinsic, max_opening_width, finger_depth):
  function read_setup (line 22) | def read_setup(root):
  function write_sensor_data (line 31) | def write_sensor_data(root, depth_imgs, extrinsics):
  function read_sensor_data (line 38) | def read_sensor_data(root, scene_id):
  function write_grasp (line 43) | def write_grasp(root, scene_id, grasp, label):
  function read_grasp (line 57) | def read_grasp(df, i):
  function read_df (line 67) | def read_df(root):
  function write_df (line 71) | def write_df(df, root):
  function write_voxel_grid (line 75) | def write_voxel_grid(root, scene_id, voxel_grid):
  function read_voxel_grid (line 80) | def read_voxel_grid(root, scene_id):
  function read_json (line 85) | def read_json(path):
  function write_json (line 91) | def write_json(data, path):
  function create_csv (line 96) | def create_csv(path, columns):
  function append_csv (line 102) | def append_csv(path, *args):

FILE: src/gd/networks.py
  function get_network (line 9) | def get_network(name):
  function load_network (line 16) | def load_network(path, device):
  function conv (line 29) | def conv(in_channels, out_channels, kernel_size):
  function conv_stride (line 33) | def conv_stride(in_channels, out_channels, kernel_size):
  class ConvNet (line 39) | class ConvNet(nn.Module):
    method __init__ (line 40) | def __init__(self):
    method forward (line 48) | def forward(self, x):
  class Encoder (line 57) | class Encoder(nn.Module):
    method __init__ (line 58) | def __init__(self, in_channels, filters, kernels):
    method forward (line 64) | def forward(self, x):
  class Decoder (line 77) | class Decoder(nn.Module):
    method __init__ (line 78) | def __init__(self, in_channels, filters, kernels):
    method forward (line 84) | def forward(self, x):
  function count_num_trainable_parameters (line 100) | def count_num_trainable_parameters(net):

FILE: src/gd/perception.py
  class CameraIntrinsic (line 10) | class CameraIntrinsic(object):
    method __init__ (line 19) | def __init__(self, width, height, fx, fy, cx, cy, channel=1):
    method fx (line 26) | def fx(self):
    method fy (line 30) | def fy(self):
    method cx (line 34) | def cx(self):
    method cy (line 38) | def cy(self):
    method to_dict (line 41) | def to_dict(self):
    method from_dict (line 52) | def from_dict(cls, data):
  class TSDFVolume (line 66) | class TSDFVolume(object):
    method __init__ (line 69) | def __init__(self, size, resolution):
    method integrate (line 82) | def integrate(self, depth_img, intrinsic, extrinsic):
    method get_grid (line 109) | def get_grid(self):
    method get_cloud (line 119) | def get_cloud(self):
  function create_tsdf (line 123) | def create_tsdf(size, resolution, depth_imgs, intrinsic, extrinsics):
  function camera_on_sphere (line 131) | def camera_on_sphere(origin, radius, theta, phi):

FILE: src/gd/simulation.py
  class ClutterRemovalSim (line 13) | class ClutterRemovalSim(object):
    method __init__ (line 14) | def __init__(self, scene, object_set, gui=True, seed=None, renderer_ro...
    method num_objects (line 46) | def num_objects(self):
    method discover_objects (line 49) | def discover_objects(self):
    method save_state (line 53) | def save_state(self):
    method restore_state (line 56) | def restore_state(self):
    method reset (line 59) | def reset(self, object_count, n_round):
    method draw_workspace (line 100) | def draw_workspace(self):
    method place_table (line 108) | def place_table(self, height):
    method generate_seen_scene (line 120) | def generate_seen_scene(self, table_height, mesh_pose_npz):
    method generate_pile_scene (line 158) | def generate_pile_scene(self, object_count, table_height, scene_descri...
    method generate_packed_scene (line 205) | def generate_packed_scene(self, object_count, table_height, scene_desc...
    method generate_packedsingle_scene (line 273) | def generate_packedsingle_scene(self, object_count, table_height, scen...
    method acquire_tsdf (line 341) | def acquire_tsdf(self, n, N=None):
    method execute_grasp (line 369) | def execute_grasp(self, grasp, remove=True, allow_contact=False):
    method remove_and_wait (line 424) | def remove_and_wait(self):
    method wait_for_objects_to_rest (line 432) | def wait_for_objects_to_rest(self, timeout=2.0, tol=0.01):
    method remove_objects_outside_workspace (line 446) | def remove_objects_outside_workspace(self):
    method check_success (line 465) | def check_success(self, gripper):
  class Gripper (line 472) | class Gripper(object):
    method __init__ (line 475) | def __init__(self, world):
    method reset (line 483) | def reset(self, T_world_tcp):
    method update_tcp_constraint (line 514) | def update_tcp_constraint(self, T_world_tcp):
    method set_tcp (line 522) | def set_tcp(self, T_world_tcp):
    method move_tcp_xyz (line 527) | def move_tcp_xyz(self, target, eef_step=0.002, vel=0.10, abort_on_cont...
    method detect_contact (line 544) | def detect_contact(self, threshold=5):
    method move (line 550) | def move(self, width):
    method read (line 556) | def read(self):

FILE: src/gd/utils/__init__.py
  function workspace_lines (line 1) | def workspace_lines(size):

FILE: src/gd/utils/btsim.py
  class BtWorld (line 13) | class BtWorld(object):
    method __init__ (line 22) | def __init__(self, gui=True):
    method set_gravity (line 34) | def set_gravity(self, gravity):
    method load_urdf (line 37) | def load_urdf(self, urdf_path, pose, scale=1.0):
    method remove_body (line 44) | def remove_body(self, body, isRemoveObjPerGrasp=False):
    method add_constraint (line 50) | def add_constraint(self, *argv, **kwargs):
    method add_camera (line 55) | def add_camera(self, intrinsic, near, far):
    method get_contacts (line 59) | def get_contacts(self, bodyA):
    method reset (line 79) | def reset(self):
    method step (line 87) | def step(self):
    method save_state (line 93) | def save_state(self):
    method restore_state (line 96) | def restore_state(self, state_uid):
    method close (line 99) | def close(self):
  class Body (line 103) | class Body(object):
    method __init__ (line 113) | def __init__(self, physics_client, body_uid):
    method from_urdf (line 126) | def from_urdf(cls, physics_client, urdf_path, pose, scale):
    method get_pose (line 135) | def get_pose(self):
    method set_pose (line 139) | def set_pose(self, pose):
    method get_velocity (line 144) | def get_velocity(self):
  class Link (line 149) | class Link(object):
    method __init__ (line 156) | def __init__(self, physics_client, body_uid, link_index):
    method get_pose (line 161) | def get_pose(self):
  class Joint (line 167) | class Joint(object):
    method __init__ (line 177) | def __init__(self, physics_client, body_uid, joint_index):
    method get_position (line 187) | def get_position(self):
    method set_position (line 191) | def set_position(self, position, kinematics=False):
  class Constraint (line 203) | class Constraint(object):
    method __init__ (line 210) | def __init__(
    method change (line 250) | def change(self, **kwargs):
  class Contact (line 254) | class Contact(object):
    method __init__ (line 264) | def __init__(self, bodyA, bodyB, point, normal, depth, force):
  class Camera (line 273) | class Camera(object):
    method __init__ (line 280) | def __init__(self, physics_client, intrinsic, near, far):
    method render (line 287) | def render(self, extrinsic):
  function _build_projection_matrix (line 314) | def _build_projection_matrix(intrinsic, near, far):
  function _gl_ortho (line 327) | def _gl_ortho(left, right, bottom, top, near, far):

FILE: src/gd/utils/panda_control.py
  class PandaCommander (line 8) | class PandaCommander(object):
    method __init__ (line 9) | def __init__(self):
    method reset (line 15) | def reset(self):
    method clear (line 20) | def clear(self):
    method home (line 23) | def home(self):
    method goto_joints (line 29) | def goto_joints(self, joints):
    method get_joints (line 34) | def get_joints(self):
    method goto_pose (line 36) | def goto_pose(self, pose):
    method get_pose (line 54) | def get_pose(self):
    method grasp (line 57) | def grasp(self, width=0.0, force=10.0):
    method move_gripper (line 60) | def move_gripper(self, width):
    method get_gripper_width (line 63) | def get_gripper_width(self):

FILE: src/gd/utils/ros_utils.py
  function to_point_msg (line 11) | def to_point_msg(position):
  function from_point_msg (line 20) | def from_point_msg(msg):
  function to_vector3_msg (line 25) | def to_vector3_msg(vector3):
  function from_vector3_msg (line 34) | def from_vector3_msg(msg):
  function to_quat_msg (line 39) | def to_quat_msg(orientation):
  function from_quat_msg (line 50) | def from_quat_msg(msg):
  function to_pose_msg (line 55) | def to_pose_msg(transform):
  function to_transform_msg (line 63) | def to_transform_msg(transform):
  function from_transform_msg (line 71) | def from_transform_msg(msg):
  function to_color_msg (line 78) | def to_color_msg(color):
  function to_cloud_msg (line 88) | def to_cloud_msg(points, intensities=None, frame=None, stamp=None):
  class TransformTree (line 125) | class TransformTree(object):
    method __init__ (line 126) | def __init__(self):
    method lookup (line 133) | def lookup(self, target_frame, source_frame, time, timeout=rospy.Durat...
    method broadcast (line 137) | def broadcast(self, transform, target_frame, source_frame):
    method broadcast_static (line 145) | def broadcast_static(self, transform, target_frame, source_frame):

FILE: src/gd/utils/transform.py
  class Rotation (line 5) | class Rotation(scipy.spatial.transform.Rotation):
    method identity (line 7) | def identity(cls):
  class Transform (line 11) | class Transform(object):
    method __init__ (line 19) | def __init__(self, rotation, translation):
    method as_matrix (line 26) | def as_matrix(self):
    method to_dict (line 32) | def to_dict(self):
    method to_list (line 39) | def to_list(self):
    method __mul__ (line 42) | def __mul__(self, other):
    method transform_point (line 48) | def transform_point(self, point):
    method transform_vector (line 51) | def transform_vector(self, vector):
    method inverse (line 54) | def inverse(self):
    method from_matrix (line 61) | def from_matrix(cls, m):
    method from_dict (line 68) | def from_dict(cls, dictionary):
    method from_list (line 74) | def from_list(cls, list):
    method identity (line 80) | def identity(cls):
    method look_at (line 87) | def look_at(cls, eye, center, up):

FILE: src/gd/vis.py
  function draw_workspace (line 19) | def draw_workspace(size):
  function draw_tsdf (line 29) | def draw_tsdf(vol, voxel_size, threshold=0.01):
  function draw_points (line 34) | def draw_points(points):
  function draw_quality (line 39) | def draw_quality(vol, voxel_size, threshold=0.01):
  function draw_volume (line 44) | def draw_volume(vol, voxel_size, threshold=0.01):
  function draw_grasp (line 49) | def draw_grasp(grasp, score, finger_depth):
  function draw_grasps (line 89) | def draw_grasps(grasps, scores, finger_depth):
  function clear (line 99) | def clear():
  function clear_quality (line 109) | def clear_quality():
  function clear_grasps (line 113) | def clear_grasps():
  function _create_publishers (line 117) | def _create_publishers():
  function _create_marker_msg (line 129) | def _create_marker_msg(marker_type, frame, pose, scale, color):
  function _create_vol_msg (line 141) | def _create_vol_msg(vol, voxel_size, threshold):
  function _create_grasp_marker_msg (line 153) | def _create_grasp_marker_msg(grasp, score, finger_depth):
  function _gripper_lines (line 165) | def _gripper_lines(width, depth):

FILE: src/nr/asset.py
  function add_scenes (line 7) | def add_scenes(root, type, filter_list=None):

FILE: src/nr/dataset/database.py
  class BaseDatabase (line 21) | class BaseDatabase(abc.ABC):
    method __init__ (line 22) | def __init__(self, database_name):
    method get_image (line 26) | def get_image(self, img_id):
    method get_K (line 30) | def get_K(self, img_id):
    method get_pose (line 34) | def get_pose(self, img_id):
    method get_img_ids (line 38) | def get_img_ids(self,check_depth_exist=False):
    method get_bbox (line 42) | def get_bbox(self, img_id):
    method get_depth (line 46) | def get_depth(self,img_id):
    method get_mask (line 50) | def get_mask(self,img_id):
    method get_depth_range (line 54) | def get_depth_range(self,img_id):
  class GraspSynDatabase (line 57) | class GraspSynDatabase(BaseDatabase):
    method __init__ (line 58) | def __init__(self, database_name):
    method get_split (line 126) | def get_split(self):
    method get_image (line 129) | def get_image(self, img_id):
    method get_K (line 137) | def get_K(self, img_id):
    method get_pose (line 140) | def get_pose(self, img_id):
    method get_img_ids (line 143) | def get_img_ids(self,check_depth_exist=False):
    method get_bbox3d (line 147) | def get_bbox3d(self, vis=False):
    method get_bbox (line 160) | def get_bbox(self, img_id, vis=False):
    method _depth_existence (line 174) | def _depth_existence(self,img_id):
    method get_depth (line 177) | def get_depth(self, img_id):
    method get_mask (line 185) | def get_mask(self, img_id, tp='desk'):
    method get_depth_range (line 200) | def get_depth_range(self,img_id, fixed=True):
    method get_sdf (line 207) | def get_sdf(self):
  class VGNSynDatabase (line 211) | class VGNSynDatabase(GraspSynDatabase):
    method __init__ (line 212) | def __init__(self, database_name):
    method visualize_grasping (line 227) | def visualize_grasping(self, pos, rot, w, label=None, img_id=3,save_im...
    method visualize_grasping_3d (line 260) | def visualize_grasping_3d(self, pos, rot, w, label=None, voxel_size = ...
    method get_grasp_info (line 278) | def get_grasp_info(self):
  function parse_database_name (line 297) | def parse_database_name(database_name:str)->BaseDatabase:
  function get_database_split (line 307) | def get_database_split(database: BaseDatabase, split_type='val'):

FILE: src/nr/dataset/train_dataset.py
  function select_train_ids_for_real_estate (line 12) | def select_train_ids_for_real_estate(img_ids):
  function add_depth_offset (line 29) | def add_depth_offset(depth,mask,region_min,region_max,offset_min,offset_...
  function build_src_imgs_info_select (line 44) | def build_src_imgs_info_select(database, ref_ids, ref_ids_all, cost_volu...
  class GeneralRendererDataset (line 73) | class GeneralRendererDataset(Dataset):
    method __init__ (line 118) | def __init__(self, cfg, is_train):
    method get_database_ref_que_ids (line 145) | def get_database_ref_que_ids(self, index):
    method select_working_views_impl (line 166) | def select_working_views_impl(self, database_name, dist_idx, ref_num):
    method get_ref_que_ids (line 204) | def get_ref_que_ids(self, target_id):
    method select_working_views (line 211) | def select_working_views(self, database, que_id, ref_ids):
    method depth_range_aug_for_gso (line 242) | def depth_range_aug_for_gso(self, depth_range, depth, mask):
    method random_change_depth_range (line 270) | def random_change_depth_range(self, depth_range, depth, mask, database...
    method add_depth_noise (line 281) | def add_depth_noise(self,depths,masks,depth_ranges):
    method generate_coords_for_training (line 303) | def generate_coords_for_training(self, database, que_imgs_info):
    method consistent_depth_range (line 320) | def consistent_depth_range(self, ref_imgs_info, que_imgs_info):
    method __getitem__ (line 336) | def __getitem__(self, index):
    method __len__ (line 424) | def __len__(self):
  class FinetuningRendererDataset (line 428) | class FinetuningRendererDataset(Dataset):
    method __init__ (line 433) | def __init__(self,cfg, is_train):
    method __getitem__ (line 438) | def __getitem__(self, index):
    method __len__ (line 442) | def __len__(self):

FILE: src/nr/main.py
  function process (line 23) | def process(
  function select (line 58) | def select(qual_vol, rot_vol, width_vol, threshold=0.90, max_filter_size...
  function select_index (line 77) | def select_index(qual_vol, rot_vol, width_vol, index):
  class GraspNeRFPlanner (line 87) | class GraspNeRFPlanner(object):
    method set_params (line 88) | def set_params(self, args):
    method __init__ (line 132) | def __init__(self, args=None, cfg_fn=None, debug_dir=None) -> None:
    method get_image (line 167) | def get_image(self, img_id, round_idx):
    method get_pose (line 173) | def get_pose(self, img_id):
    method get_K (line 178) | def get_K(self, img_id):
    method get_depth_range (line 181) | def get_depth_range(self,img_id, round_idx, fixed=False):
    method __call__ (line 188) | def __call__(self, test_view_id, round_idx, n_grasp, gt_tsdf):
    method core (line 211) | def core(self,

FILE: src/nr/network/aggregate_net.py
  function get_dir_diff (line 11) | def get_dir_diff(prj_dir,que_dir):
  class BaseAggregationNet (line 19) | class BaseAggregationNet(nn.Module):
    method __init__ (line 25) | def __init__(self, cfg):
    method _get_embedding (line 35) | def _get_embedding(self, prj_dict, que_dir):
  class DefaultAggregationNet (line 72) | class DefaultAggregationNet(BaseAggregationNet):
    method __init__ (line 73) | def __init__(self,cfg):
    method forward (line 78) | def forward(self, prj_dict, que_dir, que_pts=None, que_dists=None):
  class NeusAggregationNet (line 87) | class NeusAggregationNet(BaseAggregationNet):
    method __init__ (line 93) | def __init__(self,cfg):
    method _update_cos_anneal_ratio (line 102) | def _update_cos_anneal_ratio(self):
    method _get_alpha_from_sdf (line 105) | def _get_alpha_from_sdf(self, sdf, grad, que_dir, que_dists):
    method forward (line 125) | def forward(self, prj_dict, que_dir, que_pts, que_dists, is_train):

FILE: src/nr/network/dist_decoder.py
  function get_near_far_points (line 6) | def get_near_far_points(depth, interval, depth_range, is_ref, fixed_inte...
  class MixtureLogisticsDistDecoder (line 53) | class MixtureLogisticsDistDecoder(nn.Module):
    method __init__ (line 59) | def __init__(self,cfg):
    method forward (line 99) | def forward(self, feats):
    method compute_prob (line 109) | def compute_prob(self, depth, interval, mean, var, vis, aw, is_ref, de...
    method decode_alpha_value (line 144) | def decode_alpha_value(self, alpha_value):
    method predict_mean (line 148) | def predict_mean(self,prj_ray_feats):
    method predict_aw (line 152) | def predict_aw(self,prj_ray_feats):

FILE: src/nr/network/ibrnet.py
  class ScaledDotProductAttention (line 7) | class ScaledDotProductAttention(nn.Module):
    method __init__ (line 10) | def __init__(self, temperature, attn_dropout=0.1):
    method forward (line 15) | def forward(self, q, k, v, mask=None):
  class PositionwiseFeedForward (line 30) | class PositionwiseFeedForward(nn.Module):
    method __init__ (line 33) | def __init__(self, d_in, d_hid, dropout=0.1):
    method forward (line 40) | def forward(self, x):
  class MultiHeadAttention (line 52) | class MultiHeadAttention(nn.Module):
    method __init__ (line 55) | def __init__(self, n_head, d_model, d_k, d_v, dropout=0.1):
    method forward (line 72) | def forward(self, q, k, v, mask=None):
  function weights_init (line 105) | def weights_init(m):
  function fused_mean_variance (line 113) | def fused_mean_variance(x, weight):
  class IBRNet (line 118) | class IBRNet(nn.Module):
    method __init__ (line 119) | def __init__(self, in_feat_ch=32, n_samples=64, **kwargs):
    method posenc (line 174) | def posenc(self, d_hid, n_samples):
    method forward (line 185) | def forward(self, rgb_feat, ray_diff, mask):
  class IBRNetWithNeuRay (line 240) | class IBRNetWithNeuRay(nn.Module):
    method __init__ (line 241) | def __init__(self, neuray_in_dim=32, in_feat_ch=32, n_samples=64, **kw...
    method change_pos_encoding (line 303) | def change_pos_encoding(self,n_samples):
    method posenc (line 306) | def posenc(self, d_hid, n_samples):
    method forward (line 316) | def forward(self, rgb_feat, neuray_feat, ray_diff, mask):
  class IBRNetWithNeuRayNeus (line 373) | class IBRNetWithNeuRayNeus(nn.Module):
    method __init__ (line 374) | def __init__(self, neuray_in_dim=32, in_feat_ch=32, n_samples=64, **kw...
    method change_pos_encoding (line 434) | def change_pos_encoding(self,n_samples):
    method posenc (line 437) | def posenc(self, d_hid, n_samples):
    method forward (line 447) | def forward(self, rgb_feat, neuray_feat, ray_diff, mask, que_pts):

FILE: src/nr/network/init_net.py
  class CostVolumeInitNet (line 8) | class CostVolumeInitNet(nn.Module):
    method __init__ (line 12) | def __init__(self,cfg):
    method forward (line 33) | def forward(self, ref_imgs_info, src_imgs_info, is_train):

FILE: src/nr/network/loss.py
  class Loss (line 11) | class Loss:
    method __init__ (line 12) | def __init__(self, keys):
    method __call__ (line 19) | def __call__(self, data_pr, data_gt, step, **kwargs):
  class ConsistencyLoss (line 22) | class ConsistencyLoss(Loss):
    method __init__ (line 29) | def __init__(self, cfg):
    method __call__ (line 33) | def __call__(self, data_pr, data_gt, step, **kwargs):
  class RenderLoss (line 50) | class RenderLoss(Loss):
    method __init__ (line 59) | def __init__(self, cfg):
    method __call__ (line 63) | def __call__(self, data_pr, data_gt, step, is_train=True, **kwargs):
  class DepthLoss (line 87) | class DepthLoss(Loss):
    method __init__ (line 95) | def __init__(self, cfg):
    method __call__ (line 101) | def __call__(self, data_pr, data_gt, step, is_train=True, **kwargs):
  function compute_mae (line 146) | def compute_mae(pr, gt, mask):
  class SDFLoss (line 149) | class SDFLoss(Loss):
    method __init__ (line 157) | def __init__(self, cfg):
    method __call__ (line 162) | def __call__(self, data_pr, data_gt, step, is_train=True, **kwargs):
  class VGNLoss (line 180) | class VGNLoss(Loss):
    method __init__ (line 184) | def __init__(self, cfg):
    method _loss_fn (line 188) | def _loss_fn(self, y_pred, y, is_train):
    method _qual_loss_fn (line 208) | def _qual_loss_fn(self, pred, target):
    method _acc_fn (line 211) | def _acc_fn(self, pred, target):
    method _pr_fn (line 214) | def _pr_fn(self, pred, target):
    method _rot_loss_fn (line 218) | def _rot_loss_fn(self, pred, target):
    method _angle_error_fn (line 223) | def _angle_error_fn(self, pred, target, method='torch'):
    method _quat_loss_fn (line 245) | def _quat_loss_fn(self, pred, target):
    method _width_loss_fn (line 248) | def _width_loss_fn(self, pred, target):
    method __call__ (line 251) | def __call__(self, data_pr, data_gt, step, is_train=True, **kwargs):

FILE: src/nr/network/metrics.py
  function compute_psnr (line 14) | def compute_psnr(img_gt, img_pr, use_vis_scores=False, vis_scores=None, ...
  function compute_mae (line 29) | def compute_mae(depth_pr, depth_gt):
  class PSNR_SSIM (line 32) | class PSNR_SSIM(Loss):
    method __init__ (line 36) | def __init__(self, cfg):
    method __call__ (line 40) | def __call__(self, data_pr, data_gt, step, **kwargs):
  class VisualizeImage (line 86) | class VisualizeImage(Loss):
    method __init__ (line 87) | def __init__(self, cfg):
    method __call__ (line 90) | def __call__(self, data_pr, data_gt, step, **kwargs):
  function psnr_nr (line 121) | def psnr_nr(results):
  function psnr_nr_fine (line 124) | def psnr_nr_fine(results):
  function depth_mae (line 127) | def depth_mae(results):
  function sdf_mae (line 130) | def sdf_mae(results):
  function loss_vgn (line 133) | def loss_vgn(results):

FILE: src/nr/network/mvsnet/modules.py
  class ConvBnReLU (line 7) | class ConvBnReLU(nn.Module):
    method __init__ (line 8) | def __init__(self, in_channels, out_channels, kernel_size=3, stride=1,...
    method forward (line 13) | def forward(self, x):
  class ConvBnReLU3D (line 16) | class ConvBnReLU3D(nn.Module):
    method __init__ (line 17) | def __init__(self, in_channels, out_channels, kernel_size=3, stride=1,...
    method forward (line 22) | def forward(self, x):
  function homo_warp (line 25) | def homo_warp(src_feat, src_proj, ref_proj_inv, depth_values):
  function depth_regression (line 66) | def depth_regression(p, depth_values):

FILE: src/nr/network/mvsnet/mvsnet.py
  class FeatureNet (line 7) | class FeatureNet(nn.Module):
    method __init__ (line 8) | def __init__(self, norm_act=InPlaceABN):
    method forward (line 23) | def forward(self, x):
  class CostRegNet (line 29) | class CostRegNet(nn.Module):
    method __init__ (line 30) | def __init__(self, norm_act=InPlaceABN):
    method forward (line 57) | def forward(self, x):
  class MVSNet (line 71) | class MVSNet(nn.Module):
    method __init__ (line 72) | def __init__(self, norm_act=InPlaceABN):
    method forward (line 77) | def forward(self, imgs, proj_mats, depth_values):
    method construct_cost_volume (line 133) | def construct_cost_volume(self, ref_imgs, ref_nn_idx, ref_prjs, depth_...
    method construct_cost_volume_with_src (line 160) | def construct_cost_volume_with_src(self, ref_imgs, src_imgs, ref_nn_id...
  function extract_model_state_dict (line 191) | def extract_model_state_dict(ckpt_path, prefixes_to_ignore=[]):
  function load_ckpt (line 215) | def load_ckpt(model, ckpt_path, prefixes_to_ignore=[]):

FILE: src/nr/network/neus.py
  class SingleVarianceNetwork (line 6) | class SingleVarianceNetwork(nn.Module):
    method __init__ (line 7) | def __init__(self, init_val, fix_s=-1):
    method set_step (line 13) | def set_step(self, step):
    method forward (line 16) | def forward(self, x):
  class Embedder (line 21) | class Embedder:
    method __init__ (line 22) | def __init__(self, **kwargs):
    method create_embedding_fn (line 26) | def create_embedding_fn(self):
    method embed (line 50) | def embed(self, inputs):
  function get_embedder (line 54) | def get_embedder(multires, input_dims=3):

FILE: src/nr/network/ops.py
  function conv3x3 (line 5) | def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1):
  function conv1x1 (line 10) | def conv1x1(in_planes, out_planes, stride=1):
  function interpolate_feats (line 14) | def interpolate_feats(feats, points, h=None, w=None, padding_mode='zeros...
  function masked_mean_var (line 36) | def masked_mean_var(feats,mask,dim=2):
  class ResidualBlock (line 43) | class ResidualBlock(nn.Module):
    method __init__ (line 44) | def __init__(self, dim_in, dim_out, dim_inter=None, use_norm=True, nor...
    method forward (line 70) | def forward(self, feats):
  class AddBias (line 78) | class AddBias(nn.Module):
    method __init__ (line 79) | def __init__(self,val):
    method forward (line 83) | def forward(self,x):
  class BasicBlock (line 86) | class BasicBlock(nn.Module):
    method __init__ (line 89) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
    method forward (line 107) | def forward(self, x):
  class conv (line 125) | class conv(nn.Module):
    method __init__ (line 126) | def __init__(self, num_in_layers, num_out_layers, kernel_size, stride):
    method forward (line 137) | def forward(self, x):
  class upconv (line 140) | class upconv(nn.Module):
    method __init__ (line 141) | def __init__(self, num_in_layers, num_out_layers, kernel_size, scale):
    method forward (line 146) | def forward(self, x):
  class ResUNetLight (line 150) | class ResUNetLight(nn.Module):
    method __init__ (line 151) | def __init__(self, in_dim=3, layers=(2, 3, 6, 3), out_dim=32, inplanes...
    method _make_layer (line 181) | def _make_layer(self, block, planes, blocks, stride=1, dilate=False):
    method skipconnect (line 205) | def skipconnect(self, x1, x2):
    method forward (line 214) | def forward(self, x):
  class ResEncoder (line 232) | class ResEncoder(nn.Module):
    method __init__ (line 233) | def __init__(self):
    method _make_layer (line 265) | def _make_layer(self, block, planes, blocks, stride=1, dilate=False):
    method skipconnect (line 289) | def skipconnect(self, x1, x2):
    method forward (line 303) | def forward(self, x):

FILE: src/nr/network/render_ops.py
  function coords2rays (line 4) | def coords2rays(coords, poses, Ks):
  function depth2points (line 27) | def depth2points(que_imgs_info, que_depth):
  function depth2dists (line 41) | def depth2dists(depth):
  function depth2inv_dists (line 46) | def depth2inv_dists(depth,depth_range):
  function interpolate_feature_map (line 54) | def interpolate_feature_map(ray_feats, coords, mask, h, w, border_type='...
  function alpha_values2hit_prob (line 72) | def alpha_values2hit_prob(alpha_values):
  function project_points_coords (line 82) | def project_points_coords(pts, Rt, K):
  function project_points_directions (line 106) | def project_points_directions(poses,points):
  function project_points_ref_views (line 117) | def project_points_ref_views(ref_imgs_info, que_points):
  function project_points_dict (line 132) | def project_points_dict(ref_imgs_info, que_pts):
  function sample_depth (line 146) | def sample_depth(depth_range, coords, sample_num, random_sample):
  function sample_fine_depth (line 172) | def sample_fine_depth(depth, hit_prob, depth_range, sample_num, random_s...

FILE: src/nr/network/renderer.py
  class NeuralRayRenderer (line 13) | class NeuralRayRenderer(nn.Module):
    method __init__ (line 48) | def __init__(self,cfg):
    method predict_proj_ray_prob (line 62) | def predict_proj_ray_prob(self, prj_dict, ref_imgs_info, que_dists, is...
    method get_img_feats (line 80) | def get_img_feats(self,ref_imgs_info, prj_dict):
    method network_rendering (line 90) | def network_rendering(self, prj_dict, que_dir, que_pts, que_depth, is_...
    method render_by_depth (line 110) | def render_by_depth(self, que_depth, que_imgs_info, ref_imgs_info, is_...
    method fine_render_impl (line 140) | def fine_render_impl(self, coarse_render_info, que_imgs_info, ref_imgs...
    method render_impl (line 152) | def render_impl(self, que_imgs_info, ref_imgs_info, is_train):
    method sample_volume (line 164) | def sample_volume(self, ref_imgs_info):
    method render (line 201) | def render(self, que_imgs_info, ref_imgs_info, is_train):
    method gen_depth_loss_coords (line 222) | def gen_depth_loss_coords(self,h,w,device):
    method predict_mean_for_depth_loss (line 230) | def predict_mean_for_depth_loss(self, ref_imgs_info):
    method forward (line 268) | def forward(self,data):
  class GraspNeRF (line 293) | class GraspNeRF(nn.Module):
    method __init__ (line 298) | def __init__(self, cfg):
    method select (line 305) | def select(self, out, index):
    method forward (line 313) | def forward(self, data):

FILE: src/nr/network/vis_encoder.py
  class DefaultVisEncoder (line 6) | class DefaultVisEncoder(nn.Module):
    method __init__ (line 8) | def __init__(self, cfg):
    method forward (line 19) | def forward(self, ray_feats, imgs_feats):

FILE: src/nr/train/lr_common_manager.py
  class LearningRateManager (line 3) | class LearningRateManager(abc.ABC):
    method set_lr_for_all (line 5) | def set_lr_for_all(optimizer, lr):
    method construct_optimizer (line 9) | def construct_optimizer(self, optimizer, network):
    method __call__ (line 16) | def __call__(self, optimizer, step, *args, **kwargs):
  class ExpDecayLR (line 19) | class ExpDecayLR(LearningRateManager):
    method __init__ (line 20) | def __init__(self,cfg):
    method __call__ (line 26) | def __call__(self, optimizer, step, *args, **kwargs):
  class ExpDecayLRRayFeats (line 31) | class ExpDecayLRRayFeats(ExpDecayLR):
    method construct_optimizer (line 32) | def construct_optimizer(self, optimizer, network):
  class WarmUpExpDecayLR (line 36) | class WarmUpExpDecayLR(LearningRateManager):
    method __init__ (line 37) | def __init__(self, cfg):
    method __call__ (line 45) | def __call__(self, optimizer, step, *args, **kwargs):

FILE: src/nr/train/train_tools.py
  function load_model (line 11) | def load_model(model, optim, model_dir, epoch=-1):
  function adjust_learning_rate (line 29) | def adjust_learning_rate(optimizer, epoch, lr_decay_rate, lr_decay_epoch...
  function reset_learning_rate (line 41) | def reset_learning_rate(optimizer, lr):
  function save_model (line 49) | def save_model(net, optim, epoch, model_dir):
  class Recorder (line 57) | class Recorder(object):
    method __init__ (line 58) | def __init__(self, rec_dir, rec_fn):
    method rec_loss (line 64) | def rec_loss(self, losses_batch, step, epoch, prefix='train', dump=Fal...
    method rec_msg (line 88) | def rec_msg(self, msg):
  class Logger (line 94) | class Logger:
    method __init__ (line 95) | def __init__(self, log_dir):
    method log (line 100) | def log(self,data, prefix='train',step=None,verbose=False):
  function print_shape (line 111) | def print_shape(obj):
  function overwrite_configs (line 118) | def overwrite_configs(cfg_base: dict, cfg: dict):
  function to_cuda (line 131) | def to_cuda(data):
  function dim_extend (line 147) | def dim_extend(data_list):
  class MultiGPUWrapper (line 153) | class MultiGPUWrapper(nn.Module):
    method __init__ (line 154) | def __init__(self,network,losses):
    method forward (line 159) | def forward(self, data_gt):
  class DummyLoss (line 167) | class DummyLoss:
    method __init__ (line 168) | def __init__(self,losses):
    method __call__ (line 173) | def __call__(self, data_pr, data_gt, step):

FILE: src/nr/train/train_valid.py
  class ValidationEvaluator (line 11) | class ValidationEvaluator:
    method __init__ (line 12) | def __init__(self,cfg):
    method __call__ (line 16) | def __call__(self, model, losses, eval_dataset, step, model_name, val_...

FILE: src/nr/train/trainer.py
  class Trainer (line 20) | class Trainer:
    method _init_dataset (line 37) | def _init_dataset(self):
    method _init_network (line 60) | def _init_network(self):
    method __init__ (line 97) | def __init__(self,cfg):
    method run (line 115) | def run(self):
    method _load_model (line 199) | def _load_model(self):
    method _save_model (line 211) | def _save_model(self, step, best_para, save_fn=None):
    method _init_logger (line 220) | def _init_logger(self):
    method _log_data (line 223) | def _log_data(self,results,step,prefix='train',verbose=False):

FILE: src/nr/utils/base_utils.py
  function read_pickle (line 20) | def read_pickle(pkl_path):
  function save_pickle (line 25) | def save_pickle(data, pkl_path):
  function mask_zbuffer_to_pts (line 33) | def mask_zbuffer_to_pts(mask, zbuffer, K):
  function mask_depth_to_pts (line 44) | def mask_depth_to_pts(mask, depth, K, rgb=None):
  function read_render_zbuffer (line 55) | def read_render_zbuffer(dpt_pth, max_depth, min_depth):
  function zbuffer_to_depth (line 62) | def zbuffer_to_depth(zbuffer, K):
  function project_points (line 75) | def project_points(pts, RT, K):
  function grey_repeats (line 89) | def grey_repeats(img_raw):
  function normalize_image (line 95) | def normalize_image(img, mask=None):
  function tensor_to_image (line 101) | def tensor_to_image(tensor):
  function equal_hist (line 105) | def equal_hist(img):
  function resize_large_image (line 116) | def resize_large_image(img, resize_max):
  function downsample_gaussian_blur (line 128) | def downsample_gaussian_blur(img, ratio):
  function resize_small_image (line 137) | def resize_small_image(img, resize_min):
  function round_coordinates (line 149) | def round_coordinates(coord, h, w):
  function get_img_patch (line 158) | def get_img_patch(img, pt, size):
  function perspective_transform (line 174) | def perspective_transform(pts, H):
  function get_rot_m (line 180) | def get_rot_m(angle):
  function get_rot_m_batch (line 184) | def get_rot_m_batch(angle):
  function compute_F (line 189) | def compute_F(K1, K2, R, t):
  function compute_relative_transformation (line 206) | def compute_relative_transformation(Rt0, Rt1):
  function compute_angle (line 219) | def compute_angle(rotation_diff):
  function load_h5 (line 226) | def load_h5(filename):
  function save_h5 (line 235) | def save_h5(dict_to_save, filename):
  function pts_to_hpts (line 241) | def pts_to_hpts(pts):
  function hpts_to_pts (line 245) | def hpts_to_pts(hpts):
  function np_skew_symmetric (line 249) | def np_skew_symmetric(v):
  function point_line_dist (line 259) | def point_line_dist(hpts, lines):
  function epipolar_distance (line 270) | def epipolar_distance(x0, x1, F):
  function epipolar_distance_mean (line 291) | def epipolar_distance_mean(x0, x1, F):
  function compute_dR_dt (line 295) | def compute_dR_dt(R0, t0, R1, t1):
  function compute_precision_recall_np (line 302) | def compute_precision_recall_np(pr, gt, eps=1e-5):
  function load_cfg (line 316) | def load_cfg(path):
  function get_stem (line 321) | def get_stem(path, suffix_len=5):
  function load_component (line 325) | def load_component(component_func, component_cfg_fn):
  function interpolate_image_points (line 330) | def interpolate_image_points(img, pts, interpolation=cv2.INTER_LINEAR):
  function transform_points_Rt (line 350) | def transform_points_Rt(pts, R, t):
  function transform_points_pose (line 355) | def transform_points_pose(pts, pose):
  function quaternion_from_matrix (line 360) | def quaternion_from_matrix(matrix, isprecise=False):
  function compute_rotation_angle_diff (line 446) | def compute_rotation_angle_diff(R_gt, R):
  function compute_translation_angle_diff (line 457) | def compute_translation_angle_diff(t_gt, t):
  function bbox2corners (line 466) | def bbox2corners(bbox):
  function get_identity_pose (line 475) | def get_identity_pose():
  function angular_difference (line 479) | def angular_difference(R0, R1):
  function load_ply_model (line 483) | def load_ply_model(model_path):
  function color_map_forward (line 492) | def color_map_forward(rgb):
  function color_map_backward (line 496) | def color_map_backward(rgb):
  function rotate_image (line 502) | def rotate_image(rot, pose, K, img, mask):
  function resize_img (line 535) | def resize_img(img, ratio):
  function pad_img (line 543) | def pad_img(img, padding_interval=8):
  function pad_img_end (line 552) | def pad_img_end(img, th, tw, padding_mode='edge', constant_values=0):
  function pad_img_target (line 564) | def pad_img_target(img, th, tw, K=np.eye(3), background_color=0):
  function get_coords_mask (line 585) | def get_coords_mask(que_mask, train_ray_num, foreground_ratio):
  function get_inverse_depth (line 607) | def get_inverse_depth(depth_range, depth_num):
  function pose_inverse (line 615) | def pose_inverse(pose):
  function pose_compose (line 621) | def pose_compose(pose0, pose1):
  function make_dir (line 633) | def make_dir(dir):
  function to_cuda (line 638) | def to_cuda(data):
  function to_cpu_numpy (line 655) | def to_cpu_numpy(data):
  function sample_fps_points (line 672) | def sample_fps_points(points, sample_num, init_center=True, index_model=...
  function pnp (line 704) | def pnp(points_3d, points_2d, camera_matrix, method=cv2.SOLVEPNP_ITERATI...
  function triangulate (line 725) | def triangulate(kps0, kps1, pose0, pose1, K0, K1):
  function transformation_compose_2d (line 734) | def transformation_compose_2d(trans0, trans1):
  function transformation_apply_2d (line 749) | def transformation_apply_2d(trans, points):
  function angle_to_rotation_2d (line 753) | def angle_to_rotation_2d(angle):
  function transformation_offset_2d (line 758) | def transformation_offset_2d(x, y):
  function transformation_scale_2d (line 762) | def transformation_scale_2d(scale):
  function transformation_rotation_2d (line 766) | def transformation_rotation_2d(ang):
  function look_at_rotation (line 770) | def look_at_rotation(point):
  function save_depth (line 782) | def save_depth(fn, depth, max_val=1000):
  function compute_geodesic_distance_from_two_matrices (line 791) | def compute_geodesic_distance_from_two_matrices(m1, m2):
  function compute_rotation_matrix_from_quaternion_xyzw (line 802) | def compute_rotation_matrix_from_quaternion_xyzw(quaternion, n_flag=True):
  function calc_rot_error_from_qxyzw (line 840) | def calc_rot_error_from_qxyzw(rotation_pred, rotations):

FILE: src/nr/utils/dataset_utils.py
  function dummy_collate_fn (line 6) | def dummy_collate_fn(data_list):
  function simple_collate_fn (line 9) | def simple_collate_fn(data_list):
  function set_seed (line 18) | def set_seed(index,is_train):

FILE: src/nr/utils/draw_utils.py
  function newline (line 17) | def newline(p1, p2):
  function draw_correspondence (line 32) | def draw_correspondence(img0, img1, kps0, kps1, matches=None, colors=Non...
  function draw_keypoints (line 99) | def draw_keypoints(img,kps,colors=None,radius=2):
  function draw_epipolar_line (line 110) | def draw_epipolar_line(F, img0, img1, pt0, color):
  function draw_epipolar_lines (line 123) | def draw_epipolar_lines(F, img0, img1,num=20):
  function gen_color_map (line 139) | def gen_color_map(error, clip_max=12.0, clip_min=2.0, cmap_name='viridis'):
  function scale_float_image (line 147) | def scale_float_image(image):
  function concat_images (line 152) | def concat_images(img0,img1,vert=False):
  function concat_images_list (line 167) | def concat_images_list(*args,vert=False):
  function get_colors_gt_pr (line 175) | def get_colors_gt_pr(gt,pr=None):
  function draw_hist (line 185) | def draw_hist(fn,vals,bins=100,hist_range=None,names=None):
  function draw_pr_curve (line 203) | def draw_pr_curve(fn,gt_sort):
  function draw_features_distribution (line 218) | def draw_features_distribution(fn,feats,colors,ds_type='pca'):
  function draw_points (line 245) | def draw_points(img,points):
  function draw_bbox (line 255) | def draw_bbox(img,bbox,color=None):
  function output_points (line 263) | def output_points(fn,pts,colors=None):
  function compute_axis_points (line 271) | def compute_axis_points(pose):
  function draw_epipolar_lines_func (line 279) | def draw_epipolar_lines_func(img0,img1,Rt0,Rt1,K0,K1):
  function draw_axis (line 284) | def draw_axis(img, R, t, K, length=0.1, width=3, with_text=False, dist=N...
  function draw_gripper (line 312) | def draw_gripper(img, R, t, K, width, thickness=2, dist=None):
  function draw_cube (line 328) | def draw_cube(img,  R, t, K, length=0.3, bias=[-0.15,-0.15,-0.], dist=No...
  function draw_world_points (line 346) | def draw_world_points(img, points, Rwc, twc, K, dist=None):
  function extract_surface_points_from_volume (line 355) | def extract_surface_points_from_volume(vol, rg, bound=(-1,1), color=(0,0...
  function draw_volume_surface (line 379) | def draw_volume_surface(logdir, vol, prefix='surface', rg=(-0.2,0.2)):
  function create_mesh_box (line 385) | def create_mesh_box(width, height, depth, dx=0, dy=0, dz=0):
  function draw_gripper_o3d (line 408) | def draw_gripper_o3d(R, t, width, score=1, color=None):
  function transform_points (line 482) | def transform_points(points, trans):

FILE: src/nr/utils/field_utils.py
  function generate_grid_points_old (line 4) | def generate_grid_points_old(bound_min, bound_max, resolution):
  function generate_grid_points (line 17) | def generate_grid_points():

FILE: src/nr/utils/grasp_utils.py
  class Grasp (line 15) | class Grasp(object):
    method __init__ (line 21) | def __init__(self, pose, width):
  function to_voxel_coordinates (line 26) | def to_voxel_coordinates(grasp, voxel_size):
  function from_voxel_coordinates (line 33) | def from_voxel_coordinates(grasp, voxel_size):
  function process (line 40) | def process(
  function select_index (line 70) | def select_index(qual_vol, rot_vol, width_vol, index):
  function select (line 78) | def select(qual_vol, rot_vol, width_vol, threshold=0.90, max_filter_size...
  function sim_grasp (line 97) | def sim_grasp(database,  alp_vol, qual_vol, rot_vol, width_vol, top_k=10):
  function run_real (line 119) | def run_real(run_id, model, images: list, extrinsics: list, intrinsic, s...

FILE: src/nr/utils/imgs_info.py
  function random_crop (line 6) | def random_crop(ref_imgs_info, que_imgs_info, target_size):
  function random_flip (line 37) | def random_flip(ref_imgs_info,que_imgs_info):
  function pad_imgs_info (line 60) | def pad_imgs_info(ref_imgs_info,pad_interval):
  function build_imgs_info (line 77) | def build_imgs_info(database, ref_ids, pad_interval=-1, is_aligned=True,...
  function build_render_imgs_info (line 126) | def build_render_imgs_info(que_pose,que_K,que_shape,que_depth_range):
  function build_canonical_info (line 137) | def build_canonical_info(bbox, resolution, que_pose, que_K):
  function imgs_info_to_torch (line 148) | def imgs_info_to_torch(imgs_info):
  function grasp_info_to_torch (line 154) | def grasp_info_to_torch(info):
  function imgs_info_slice (line 159) | def imgs_info_slice(imgs_info, indices):

FILE: src/nr/utils/view_select.py
  function compute_nearest_camera_indices (line 5) | def compute_nearest_camera_indices(database, que_ids, ref_ids=None):
  function select_working_views (line 16) | def select_working_views(ref_poses, que_poses, work_num, exclude_self=Fa...
  function select_working_views_db (line 27) | def select_working_views_db(database: BaseDatabase, ref_ids, que_poses, ...

FILE: src/rd/modify_material.py
  function modify_material (line 5) | def modify_material(mat_links, mat_nodes, material_name, mat_randomize_m...
  function set_modify_material (line 1604) | def set_modify_material(obj, material, obj_texture_img_list, mat_randomi...
  function set_modify_raw_material (line 1658) | def set_modify_raw_material(obj):
  function set_modify_table_material (line 1676) | def set_modify_table_material(obj, material, selected_realtable_img): ##...
  function set_modify_floor_material (line 1701) | def set_modify_floor_material(obj, material, selected_realfloor_img):###...

FILE: src/rd/render.py
  function blender_init_scene (line 9) | def blender_init_scene(code_root, log_root_dir, obj_texture_image_root_p...
  function blender_update_sceneobj (line 238) | def blender_update_sceneobj(obj_name_list, obj_trans_list, obj_quat_list...
  function blender_render (line 254) | def blender_render(renderer, quaternion_list, translation_list, path_sce...

FILE: src/rd/render_utils.py
  function obj_centered_camera_pos (line 181) | def obj_centered_camera_pos(dist, azimuth_deg, elevation_deg):
  function quaternionFromYawPitchRoll (line 189) | def quaternionFromYawPitchRoll(yaw, pitch, roll):
  function camPosToQuaternion (line 202) | def camPosToQuaternion(cx, cy, cz):
  function camRotQuaternion (line 231) | def camRotQuaternion(cx, cy, cz, theta):
  function quaternionProduct (line 243) | def quaternionProduct(qx, qy):
  function quaternionToRotation (line 258) | def quaternionToRotation(q):
  function quaternionToRotation_xyzw (line 274) | def quaternionToRotation_xyzw(q):
  function quaternionFromRotMat (line 290) | def quaternionFromRotMat(rotation_matrix):
  function quaternionFromRotMat_xyzw (line 317) | def quaternionFromRotMat_xyzw(rotation_matrix):
  function rotVector (line 344) | def rotVector(q, vector_ori):
  function cameraLPosToCameraRPos (line 354) | def cameraLPosToCameraRPos(q_l, pos_l, baseline_dis):
  function getRTFromAToB (line 362) | def getRTFromAToB(pointCloudA, pointCloudB):
  function cameraPositionRandomize (line 380) | def cameraPositionRandomize(start_point_range, look_at_range, up_range):
  function genCameraPosition (line 420) | def genCameraPosition(look_at):
  function quanternion_mul (line 483) | def quanternion_mul(q1, q2):
  class BlenderRenderer (line 492) | class BlenderRenderer(object):
    method __init__ (line 493) | def __init__(self, viewport_size_x=640, viewport_size_y=360, DEVICE_LI...
    method loadImages (line 608) | def loadImages(self, pattern_path, env_map_path, real_table_image_root...
    method addEnvMap (line 639) | def addEnvMap(self):
    method setEnvMap (line 679) | def setEnvMap(self, env_map_id, rotation_elur_z):
    method addMaskMaterial (line 692) | def addMaskMaterial(self, num=20):
    method addNOCSMaterial (line 746) | def addNOCSMaterial(self):
    method addNormalMaterial (line 785) | def addNormalMaterial(self):
    method addMaterialLib (line 970) | def addMaterialLib(self, material_class_instance_pairs):
    method setCamera (line 981) | def setCamera(self, quaternion, translation, fov, baseline_distance):
    method setLighting (line 1009) | def setLighting(self):
    method lightModeSelect (line 1071) | def lightModeSelect(self, light_mode):
    method outputModeSelect (line 1090) | def outputModeSelect(self, output_mode):
    method renderEngineSelect (line 1135) | def renderEngineSelect(self, engine_mode):
    method addBackground (line 1170) | def addBackground(self, size, position, scale, default_background_text...
    method clearModel (line 1234) | def clearModel(self):
    method loadModel (line 1258) | def loadModel(self, file_path):
    method render (line 1275) | def render(self, image_name="tmp", image_path=RENDERING_PATH):
    method set_material_randomize_mode (line 1336) | def set_material_randomize_mode(self, class_material_pairs, mat_random...
    method get_instance_pose (line 1355) | def get_instance_pose(self):
    method check_visible (line 1382) | def check_visible(self, threshold=(0.1, 0.9, 0.1, 0.9)):
  function setModelPosition (line 1401) | def setModelPosition(instance, location, quaternion):
  function setRigidBody (line 1410) | def setRigidBody(instance):
  function set_visiable_objects (line 1427) | def set_visiable_objects(visible_objects_list):
  function generate_CAD_model_list (line 1436) | def generate_CAD_model_list(scene_type, urdf_path_list, obj_uid_list):
  function generate_material_type (line 1458) | def generate_material_type(obj_name, class_material_pairs, instance_mate...