├── README.md ├── modelnet40_classnum2label.json ├── modelnet40_test.json ├── modelnet40_train.json ├── multiregister.yaml ├── rgbd ├── RGBD_register.py ├── o3d_tools │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── operator_tools.cpython-37.pyc │ │ ├── operator_tools.cpython-38.pyc │ │ ├── visualize_tools.cpython-37.pyc │ │ └── visualize_tools.cpython-38.pyc │ ├── bbox.ply │ ├── color.yaml │ ├── color137.yaml │ ├── color40.yaml │ ├── color40111.yaml │ ├── color60.yaml │ ├── operator_tools.py │ └── visualize_tools.py ├── run.sh └── tanimoto.py ├── split.json └── synthetic&real ├── JSONHelper.py ├── common ├── __pycache__ │ └── misc.cpython-38.pyc ├── colors.py ├── math │ ├── __pycache__ │ │ ├── se3.cpython-38.pyc │ │ └── so3.cpython-38.pyc │ ├── random.py │ ├── se3.py │ └── so3.py ├── math_torch │ ├── __pycache__ │ │ └── se3.cpython-38.pyc │ └── se3.py ├── misc.py └── torch.py ├── configs ├── __pycache__ │ └── models.cpython-38.pyc ├── models.py ├── test │ ├── multi_oneTomore_box.yaml │ └── multi_oneTomore_multi.yaml └── train │ ├── multi_oneTomore_box.yaml │ └── multi_oneTomore_multi.yaml ├── cpp_wrappers ├── compile_wrappers.sh ├── cpp_neighbors │ ├── build.bat │ ├── build │ │ ├── temp.linux-x86_64-3.7 │ │ │ ├── cpp_wrappers │ │ │ │ └── cpp_utils │ │ │ │ │ └── cloud │ │ │ │ │ └── cloud.o │ │ │ ├── neighbors │ │ │ │ └── neighbors.o │ │ │ └── wrapper.o │ │ └── temp.linux-x86_64-3.8 │ │ │ ├── cpp_wrappers │ │ │ └── cpp_utils │ │ │ │ └── cloud │ │ │ │ └── cloud.o │ │ │ ├── neighbors │ │ │ └── neighbors.o │ │ │ └── wrapper.o │ ├── neighbors │ │ ├── neighbors.cpp │ │ └── neighbors.h │ ├── radius_neighbors.cpython-37m-x86_64-linux-gnu.so │ ├── radius_neighbors.cpython-38-x86_64-linux-gnu.so │ ├── setup.py │ └── wrapper.cpp ├── cpp_subsampling │ ├── build.bat │ ├── build │ │ ├── temp.linux-x86_64-3.7 │ │ │ ├── cpp_wrappers │ │ │ │ └── cpp_utils │ │ │ │ │ └── cloud │ │ │ │ │ └── cloud.o │ │ │ ├── grid_subsampling │ │ │ │ └── grid_subsampling.o │ │ │ └── wrapper.o │ │ └── temp.linux-x86_64-3.8 │ │ │ ├── cpp_wrappers │ │ │ └── cpp_utils │ │ │ │ └── cloud │ │ │ │ └── cloud.o │ │ │ ├── grid_subsampling │ │ │ └── grid_subsampling.o │ │ │ └── wrapper.o │ ├── grid_subsampling.cpython-37m-x86_64-linux-gnu.so │ ├── grid_subsampling.cpython-38-x86_64-linux-gnu.so │ ├── grid_subsampling │ │ ├── grid_subsampling.cpp │ │ └── grid_subsampling.h │ ├── setup.py │ └── wrapper.cpp └── cpp_utils │ ├── cloud │ ├── cloud.cpp │ └── cloud.h │ └── nanoflann │ └── nanoflann.hpp ├── datasets ├── __init__.py ├── __pycache__ │ ├── IPA.cpython-38.pyc │ ├── RGBD_dataset.cpython-37.pyc │ ├── RGBD_dataset.cpython-38.pyc │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── dataloader.cpython-37.pyc │ ├── dataloader.cpython-38.pyc │ ├── indoor.cpython-38.pyc │ ├── kitti.cpython-38.pyc │ ├── modelnet.cpython-38.pyc │ ├── modelnet_shapenet_Core.cpython-38.pyc │ ├── multiRot.cpython-38.pyc │ ├── multiRot_multi.cpython-38.pyc │ ├── multi_3dcorr.cpython-38.pyc │ ├── multi_3dcorr_oneTomore.cpython-38.pyc │ ├── multi_3dcorr_oneTomore_multi.cpython-38.pyc │ ├── multibody.cpython-38.pyc │ ├── scan2cadDatasets_bigger_box.cpython-38.pyc │ ├── scan2cadDatasets_box.cpython-37.pyc │ ├── scan2cadDatasets_box.cpython-38.pyc │ ├── scan2cadDatasets_keypoints.cpython-38.pyc │ ├── scan2cadDatasets_semantic.cpython-38.pyc │ ├── scan2cadDatasets_split.cpython-38.pyc │ └── transforms.cpython-38.pyc ├── dataloader.py ├── modelnet_shapenet_Core.py ├── multiRot_multi.py ├── multi_3dcorr_oneTomore_multi.py ├── scan2cadDatasets_box.py └── transforms.py ├── id_scan_0.05_30000_train.json ├── kernels ├── __pycache__ │ └── kernel_points.cpython-38.pyc ├── dispositions │ └── k_015_center_3D.ply └── kernel_points.py ├── lib ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── benchmark.cpython-38.pyc │ ├── benchmark_utils.cpython-38.pyc │ ├── logger.cpython-38.pyc │ ├── loss.cpython-38.pyc │ ├── ply.cpython-38.pyc │ ├── tester.cpython-38.pyc │ ├── timer.cpython-37.pyc │ ├── timer.cpython-38.pyc │ ├── trainer.cpython-38.pyc │ └── utils.cpython-38.pyc ├── benchmark.py ├── benchmark_utils.py ├── logger.py ├── loss.py ├── ply.py ├── tester.py ├── timer.py ├── trainer.py └── utils.py ├── main.py ├── models ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── architectures.cpython-38.pyc │ ├── blocks.cpython-38.pyc │ └── gcn.cpython-38.pyc ├── architectures.py ├── blocks.py └── gcn.py ├── o3d_tools ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── operator_tools.cpython-37.pyc │ ├── operator_tools.cpython-38.pyc │ ├── visualize_tools.cpython-37.pyc │ └── visualize_tools.cpython-38.pyc ├── bbox.ply ├── color.yaml ├── color137.yaml ├── color40.yaml ├── color40111.yaml ├── operator_tools.py └── visualize_tools.py ├── run.sh ├── snapshot └── new.txt └── tanimoto.py 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