add source code

.dockerignore

@@ -0,0 +1,2 @@
+dataset/
+logs/

.gitignore

@@ -10,11 +10,10 @@ __pycache__/
 .Python
 build/
 develop-eggs/
-dist/
+#dist/
 downloads/
 eggs/
 .eggs/
-lib/
 lib64/
 parts/
 sdist/
@@ -158,3 +157,7 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+logs/
+dataset/
+.caches/

.pre-commit-config.yaml

@@ -0,0 +1,38 @@
+default_language_version:
+  python: python3
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      #- id: no-commit-to-branch
+      #  args: ["--branch", "main"]
+      - id: check-added-large-files
+        args: ["--maxkb=50"]
+      - id: check-toml
+      - id: check-yaml
+        args:
+          - --unsafe
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: detect-private-key
+  - repo: local
+    hooks:
+      - id: lint
+        name: lint
+        entry: hatch run lint:lint
+        language: system
+        types: [python]
+        pass_filenames: false
+        verbose: true
+      - id: format
+        name: format
+        entry: hatch run lint:format
+        language: system
+        types: [python]
+        pass_filenames: false
+        verbose: true
+exclude: |
+  (?x)(
+    ^lib/|
+    ^dataset/
+  )

Makefile

@@ -0,0 +1,47 @@
+TAG ?= $(USER)
+BASE_IMAGE ?= nvidia/cuda:12.2.2-cudnn8-devel-ubuntu20.04
+WORKSPACE_DOCKERFILE ?= docker/workspace.Dockerfile
+WORKSPACE_IMAGE ?= liepose/workspace
+WORKDIR ?= /workspace
+DATADIR ?= /workspace/dataset
+SHM_SIZE ?= 16G
+CUDA_VISIBLE_DEVICES ?= 0
+
+EXTRA_ARGS ?=
+EXTRA_ARGS := $(EXTRA_ARGS) --network host
+EXTRA_ARGS := $(EXTRA_ARGS) -e CUDA_VISIBLE_DEVICES=$(CUDA_VISIBLE_DEVICES)
+EXTRA_ARGS := $(EXTRA_ARGS) -e WORKDIR=$(WORKDIR) -e DATADIR=$(DATADIR)
+EXTRA_ARGS := $(if $(SHM_SIZE), $(EXTRA_ARGS) --shm-size $(SHM_SIZE), $(EXTRA_ARGS))
+EXTRA_ARGS := $(if $(DISPLAY), $(EXTRA_ARGS) -e DISPLAY=$(DISPLAY) -v /tmp/.X11-unix:/tmp/.X11-unix, $(EXTRA_ARGS))
+EXTRA_ARGS := $(if $(NTFY_ACCESS_KEY), $(EXTRA_ARGS) -e NTFY_ACCESS_KEY=$(NTFY_ACCESS_KEY), $(EXTRA_ARGS))
+COMMAND ?= /bin/bash
+
+.PHONY: download
+download:
+	cd dataset/; bash ./download_voc.sh
+	cd dataset/bop_datasets/; bash ./download_bop.sh
+
+.PHONY: build
+build:
+	docker build . -f $(WORKSPACE_DOCKERFILE) -t $(WORKSPACE_IMAGE):$(TAG) \
+		--build-arg BASE_IMAGE=$(BASE_IMAGE) \
+		--build-arg WORKDIR=$(WORKDIR)
+
+.PHONY: run
+run:
+	if [ -n "${DISPLAY}" ]; then xhost +; fi
+	docker run -it --gpus all --rm \
+		-v $(realpath ./):$(WORKDIR) \
+		-w $(WORKDIR) \
+		$(EXTRA_ARGS) \
+		$(WORKSPACE_IMAGE):$(TAG) \
+		$(COMMAND)
+
+.PHONY: dev
+dev:
+	@pip install pre-commit hatch
+	-pre-commit install --hook-type pre-commit
+
+.PHONY: lint
+lint:
+	pre-commit run

dataset/bop_datasets/download_bop.sh

@@ -0,0 +1,93 @@
+#!/bin/bash
+
+SRC=https://bop.felk.cvut.cz/media/data/bop_datasets
+
+LM=0
+LMO=0
+TLESS=1
+YCBV=0
+HB=0
+ICBIN=0
+
+if [ $LM -eq "1" ]; then
+  wget $SRC/lm_base.zip
+  wget $SRC/lm_models.zip
+  wget $SRC/lm_train_pbr.zip
+  wget $SRC/lm_test_all.zip
+  wget $SRC/lm_train.zip
+
+  unzip lm_base.zip
+  unzip lm_models.zip -d lm
+  unzip lm_train_pbr.zip -d lm
+  unzip lm_test_all.zip -d lm
+  unzip lm_train.zip -d lm
+fi
+
+if [ $LMO -eq "1" ]; then
+  wget $SRC/lmo_base.zip
+  wget $SRC/lmo_models.zip
+  wget $SRC/lm_train_pbr.zip -O lmo_train_pbr.zip
+  wget $SRC/lmo_test_all.zip
+  wget $SRC/lmo_train.zip
+
+  unzip lmo_base.zip
+  unzip lmo_models.zip -d lmo
+  unzip lmo_train_pbr.zip -d lmo
+  unzip lmo_test_all.zip -d lmo
+  unzip lmo_train.zip -d lmo
+fi
+
+if [ $TLESS -eq "1" ]; then
+  wget $SRC/tless_base.zip
+  wget $SRC/tless_models.zip
+  wget $SRC/tless_train_pbr.zip
+  wget $SRC/tless_train_primesense.zip
+  wget $SRC/tless_test_primesense_all.zip
+
+  unzip tless_base.zip
+  unzip tless_models.zip -d tless
+  unzip tless_train_pbr.zip -d tless
+  unzip tless_train_primesense.zip -d tless
+  unzip tless_test_primesense_all.zip -d tless
+fi
+
+if [ $YCBV -eq "1" ]; then
+  wget $SRC/ycbv_base.zip
+  wget $SRC/ycbv_models.zip
+  wget $SRC/ycbv_train_pbr.zip
+  wget $SRC/ycbv_train_real.zip
+  wget $SRC/ycbv_test_all.zip
+
+  unzip ycbv_base.zip
+  unzip ycbv_models.zip -d ycbv
+  unzip ycbv_train_pbr.zip -d ycbv
+  unzip ycbv_train_real.zip -d ycbv
+  unzip ycbv_test_all.zip -d ycbv
+fi
+
+if [ $HB -eq "1" ]; then
+  wget $SRC/hb_base.zip
+  wget $SRC/hb_models.zip
+  wget $SRC/hb_train_pbr.zip
+  wget $SRC/hb_val_primesense.zip
+  wget $SRC/hb_test_primesense_all.zip
+
+  unzip hb_base.zip
+  unzip hb_models.zip -d hb
+  unzip hb_train_pbr.zip -d hb
+  unzip hb_val_primesense.zip -d hb
+  unzip hb_test_primesense_all.zip -d hb
+fi
+
+if [ $ICBIN -eq "1" ]; then
+  wget $SRC/icbin_base.zip
+  wget $SRC/icbin_models.zip
+  wget $SRC/icbin_train_pbr.zip
+  wget $SRC/icbin_test_all.zip
+
+  unzip icbin_base.zip
+  unzip icbin_models.zip -d icbin
+  unzip icbin_train_pbr.zip -d icbin
+  unzip icbin_train.zip -d icbin
+  unzip icbin_test_all.zip -d icbin
+fi

dataset/download_voc.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+set -x
+
+wget https://pjreddie.com/media/files/VOCtrainval_11-May-2012.tar --no-check-certificate
+wget https://pjreddie.com/media/files/VOC2012test.tar --no-check-certificate
+wget https://pjreddie.com/media/files/VOCdevkit_18-May-2011.tar --no-check-certificate
+
+tar xvf VOCtrainval_11-May-2012.tar
+tar xvf VOC2012test.tar
+tar xvf VOCdevkit_18-May-2011.tar
+
+set +x

docker/workspace.Dockerfile

@@ -0,0 +1,47 @@
+ARG BASE_IMAGE=nvidia/cuda:12.2.2-cudnn8-devel-ubuntu20.04
+
+FROM $BASE_IMAGE AS base
+
+# set timezone
+ENV TZ=Asia/Tokyo
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+RUN apt-get update
+RUN apt-get install -y --no-install-recommends \
+    build-essential \
+    git curl cmake autoconf automake libtool vim ca-certificates \
+    libjpeg-dev libpng-dev libglfw3-dev libglm-dev libx11-dev libomp-dev \
+    libegl1-mesa-dev pkg-config ffmpeg wget zip unzip g++ gcc \
+    libosmesa6-dev python3-pip python3-dev \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
+
+ADD lib/bop_renderer /bop_renderer
+ADD lib/bop_toolkit /bop_toolkit
+
+# PATH
+ENV PYTHONPATH "${PYTHONPATH}:/bop_renderer/build"
+ENV PATH "${PATH}:/bop_renderer/build"
+
+RUN cd /bop_renderer && \
+    cmake -B build -S . -DCMAKE_BUILD_TYPE=Release && \
+    cmake --build build
+
+RUN pip install --upgrade pip
+
+# Install bop_toolkit
+RUN pip install /bop_toolkit
+
+# Install dependencies
+RUN pip install jax[cuda12_pip] -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
+
+COPY ./requirements.txt /tmp/requirements.txt
+RUN pip install -r /tmp/requirements.txt
+
+ARG WORKDIR=/workspace
+WORKDIR ${WORKDIR}
+
+COPY ./ ${WORKDIR}
+RUN pip install -e ${WORKDIR}
+
+CMD "/bin/bash"

lib/bop_renderer/3rd/glm/.appveyor.yml

@@ -0,0 +1,34 @@
+clone_folder: c:\dev\glm-cmake
+
+os:
+  - Visual Studio 2013
+
+platform:
+  - x86
+  - x86_64
+
+build_script:
+- md build_pure_11
+- cd build_pure_11
+- cmake -DCMAKE_CXX_COMPILER=$COMPILER -DGLM_TEST_ENABLE=ON -DGLM_TEST_ENABLE_LANG_EXTENSIONS=ON -DGLM_TEST_FORCE_PURE=ON ..
+- cmake --build . --config Debug
+- cmake --build . --config Release
+- cd ..
+- md build_simd_11
+- cd build_simd_11
+- cmake -DCMAKE_CXX_COMPILER=$COMPILER -DGLM_TEST_ENABLE=ON -DGLM_TEST_ENABLE_LANG_EXTENSIONS=ON ..
+- cmake --build . --config Debug
+- cmake --build . --config Release
+- cd ..
+- md build_pure_98
+- cd build_pure_98
+- cmake -DCMAKE_CXX_COMPILER=$COMPILER -DGLM_TEST_ENABLE=ON -DGLM_TEST_ENABLE_CXX_98=ON -DGLM_TEST_FORCE_PURE=ON ..
+- cmake --build . --config Debug
+- cmake --build . --config Release
+- cd ..
+- md build_simd_98
+- cd build_simd_98
+- cmake -DCMAKE_CXX_COMPILER=$COMPILER -DGLM_TEST_ENABLE=ON -DGLM_TEST_ENABLE_CXX_98=ON ..
+- cmake --build . --config Debug
+- cmake --build . --config Release
+- cd ..

lib/bop_renderer/3rd/glm/.gitignore

@@ -0,0 +1,54 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# CMake
+CMakeCache.txt
+CMakeFiles
+cmake_install.cmake
+install_manifest.txt
+*.cmake
+# ^ May need to add future .cmake files as exceptions
+
+# Test logs
+Testing/*
+
+# Test input
+test/gtc/*.dds
+
+# Project Files
+Makefile
+*.cbp
+*.user
+
+# Misc.
+*.log
+
+# local build(s)
+build*
+