IPD toolkit and demos

[carynbear]

Please see the demo notebooks.

ONLY FOR TESTING, NOT READY FOR MERGE.

Incomplete Tasks:

• Upload symmetries and thresholds for parts
• Publish sample results file
• Document the toolkit
• Reupload fixed CAD models

[carynbear]

Completed the outstanding tasks and provided experimental BOP conversion notebook (some TODOs are documented).

[carynbear]

Issues fixed by the toolkit reader but not fixed in the data:

• in scene_gt.json, o2w should be o2c
• in scene_pose.json:
  • cam_[R/T]r2s should be cam[R/T]_g2r
  • cam_[R/T]c2r should be cam[R/T]_r2c

Issues not fixed:

• dataset_info.json is incorrect, according to annotations, should be
  • dataset_basket_1:
    • corner_bracket6: 7,
  • dataset_basket_2:
    • square_bracket: 3
  • dataset_basket_3:
    • corner_bracket2: 8
    • corner_bracket3: 8
    • handrail_bracket: 5
    • l_bracket: 5
  • dataset_basket_4:
    • corner_bracket: 5
    • corner_bracket4: 8
  • dataset_basket_5:
    • corner_bracket5: 8
    • oblong_float: 3
  •  dataset_basket_7:
    •  corner_bracket0: 5
  • dataset_basket_8:
    •  pegboard_basket: 1
    •  pipe_fitting_unthreaded: 3