├── LICENSE ├── README.md ├── assets └── images │ └── teaser.jpg ├── environment.yaml ├── experiments └── geotransformer.gaussian_splatting.indoor │ ├── __pycache__ │ ├── backbone.cpython-38.pyc │ ├── config.cpython-38.pyc │ ├── config.cpython-39.pyc │ ├── dataset.cpython-38.pyc │ ├── loss.cpython-38.pyc │ ├── model.cpython-38.pyc │ └── model.cpython-39.pyc │ ├── backbone.py │ ├── config.py │ ├── dataset.py │ ├── demo.py │ ├── loss.py │ ├── model.py │ ├── test.py │ └── trainval.py ├── geotransformer ├── __init__.py ├── datasets │ ├── __init__.py │ └── registration │ │ ├── ScanNet_GSReg │ │ ├── __init__.py │ │ ├── dataset.py │ │ └── utils.py │ │ └── __init__.py ├── engine │ ├── __init__.py │ ├── base_tester.py │ ├── base_trainer.py │ ├── epoch_based_trainer.py │ ├── iter_based_trainer.py │ ├── logger.py │ └── single_tester.py ├── extensions │ ├── common │ │ └── torch_helper.h │ ├── cpu │ │ ├── grid_subsampling │ │ │ ├── grid_subsampling.cpp │ │ │ ├── grid_subsampling.h │ │ │ ├── grid_subsampling_cpu.cpp │ │ │ └── grid_subsampling_cpu.h │ │ └── radius_neighbors │ │ │ ├── radius_neighbors.cpp │ │ │ ├── radius_neighbors.h │ │ │ ├── radius_neighbors_cpu.cpp │ │ │ └── radius_neighbors_cpu.h │ ├── extra │ │ ├── cloud │ │ │ ├── cloud.cpp │ │ │ └── cloud.h │ │ └── nanoflann │ │ │ └── nanoflann.hpp │ └── pybind.cpp ├── modules │ ├── __init__.py │ ├── geotransformer │ │ ├── __init__.py │ │ ├── geotransformer.py │ │ ├── local_global_registration.py │ │ ├── point_matching.py │ │ ├── superpoint_matching.py │ │ └── superpoint_target.py │ ├── kpconv │ │ ├── __init__.py │ │ ├── dispositions │ │ │ └── k_015_center_3D.ply │ │ ├── functional.py │ │ ├── kernel_points.py │ │ ├── kpconv.py │ │ └── modules.py │ ├── layers │ │ ├── __init__.py │ │ ├── conv_block.py │ │ └── factory.py │ ├── loss │ │ ├── __init__.py │ │ └── circle_loss.py │ ├── ops │ │ ├── __init__.py │ │ ├── grid_subsample.py │ │ ├── index_select.py │ │ ├── pairwise_distance.py │ │ ├── pointcloud_partition.py │ │ ├── radius_search.py │ │ ├── transformation.py │ │ └── vector_angle.py │ ├── registration │ │ ├── __init__.py │ │ ├── matching.py │ │ ├── metrics.py │ │ └── procrustes.py │ ├── sinkhorn │ │ ├── __init__.py │ │ └── learnable_sinkhorn.py │ └── transformer │ │ ├── __init__.py │ │ ├── conditional_transformer.py │ │ ├── lrpe_transformer.py │ │ ├── output_layer.py │ │ ├── pe_transformer.py │ │ ├── positional_embedding.py │ │ ├── rpe_transformer.py │ │ └── vanilla_transformer.py ├── transforms │ ├── __init__.py │ └── functional.py └── utils │ ├── __init__.py │ ├── average_meter.py │ ├── common.py │ ├── data.py │ ├── graphics_utils.py │ ├── open3d.py │ ├── pointcloud.py │ ├── registration.py │ ├── summary_board.py │ ├── timer.py │ ├── torch.py │ └── visualization.py ├── gs_fusion.py └── setup.py /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/GAP-LAB-CUHK-SZ/GaussReg/HEAD/LICENSE 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