├── .gitignore ├── README.md ├── config ├── pretrain.yaml ├── rio.yaml └── scannet.yaml ├── docs ├── rerun_interface.png └── system.001.png ├── organize_sequences.py ├── requirements.txt ├── setup.py ├── sgreg ├── __init__.py ├── backbone │ ├── __init__.py │ ├── backbone.py │ ├── senet.py │ └── shape_encoder.py ├── bert │ ├── bertwarper.py │ └── get_tokenizer.py ├── dataset │ ├── __init__.py │ ├── dataset_factory.py │ ├── generate_gt_association.py │ ├── prepare_semantics.py │ ├── scene_graph.py │ ├── scene_pair_dataset.py │ └── stack_mode.py ├── extensions │ ├── README.md │ ├── 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 ├── gnn │ ├── __init__.py │ ├── gnn.py │ ├── nodes_init_layer.py │ ├── spatial_attention.py │ └── triplet_gnn.py ├── kpconv │ ├── __init__.py │ ├── dispositions │ │ └── k_015_center_3D.ply │ ├── functional.py │ ├── kernel_points.py │ ├── kpconv.py │ └── modules.py ├── loss │ ├── eval.py │ └── loss.py ├── match │ ├── __init__.py │ ├── learnable_sinkhorn.py │ └── match.py ├── ops │ ├── __init__.py │ ├── grid_subsample.py │ ├── index_select.py │ ├── instance_partition.py │ ├── pairwise_distance.py │ ├── radius_search.py │ └── transformation.py ├── registration │ ├── __init__.py │ ├── hybrid_reg.py │ ├── local_global_registration.py │ ├── metrics.py │ ├── offline_registration.py │ ├── procrustes.py │ ├── test_registration.py │ └── test_ver0_register.py ├── sg_reg.py ├── train.py ├── utils │ ├── __init__.py │ ├── config.py │ ├── io.py │ ├── tictoc.py │ ├── torch.py │ ├── utils.py │ └── viz_tools.py ├── val.py └── visualize.py └── 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