├── KITTI ├── __pycache__ │ ├── config.cpython-38.pyc │ ├── dataloader.cpython-38.pyc │ ├── dataset.cpython-38.pyc │ └── trainer.cpython-38.pyc ├── config.py ├── dataloader.py ├── dataset.py ├── snapshot │ └── 06050001 │ │ ├── Desc │ │ └── best.pth │ │ ├── Inlier │ │ └── best.pth │ │ ├── Keypt │ │ └── best.pth │ │ └── Ref │ │ └── best.pth ├── test.py ├── test_kitti.txt ├── train.py ├── train_kitti.txt ├── trainer.py └── val_kitti.txt ├── LICENSE ├── README.md ├── ThreeDMatch ├── .gitignore ├── config.py ├── dataloader.py ├── dataset.py ├── snapshot │ └── 06132318 │ │ ├── Desc │ │ └── best.pth │ │ ├── Inlier │ │ └── best.pth │ │ ├── Keypt │ │ └── best.pth │ │ └── Ref │ │ └── best.pth ├── test.py ├── train.py └── trainer.py ├── cpp_wrappers ├── compile_wrappers.sh ├── cpp_neighbors │ ├── build.bat │ ├── neighbors │ │ ├── neighbors.cpp │ │ └── neighbors.h │ ├── setup.py │ └── wrapper.cpp ├── cpp_subsampling │ ├── build.bat │ ├── grid_subsampling │ │ ├── grid_subsampling.cpp │ │ └── grid_subsampling.h │ ├── setup.py │ └── wrapper.cpp └── cpp_utils │ ├── cloud │ ├── cloud.cpp │ └── cloud.h │ └── nanoflann │ └── nanoflann.hpp ├── fig └── pipeline.png ├── generalization ├── KITTI2ETH │ ├── __pycache__ │ │ └── config.cpython-38.pyc │ ├── config.py │ └── test.py ├── KITTI2ThreeD │ ├── __pycache__ │ │ └── config.cpython-38.pyc │ ├── config.py │ └── test.py ├── ThreeD2ETH │ ├── __pycache__ │ │ ├── config.cpython-38.pyc │ │ ├── dataloader.cpython-38.pyc │ │ └── dataset.cpython-38.pyc │ ├── config.py │ ├── dataloader.py │ ├── dataset.py │ └── test.py └── ThreeD2KITTI │ ├── __pycache__ │ └── config.cpython-38.pyc │ ├── config.py │ └── test.py ├── loss ├── __pycache__ │ ├── desc_loss.cpython-36.pyc │ ├── desc_loss.cpython-38.pyc │ └── loss.cpython-38.pyc └── desc_loss.py ├── models ├── BUFFER.py ├── KPConv │ ├── __pycache__ │ │ ├── architectures.cpython-38.pyc │ │ ├── blocks.cpython-38.pyc │ │ └── gcn.cpython-38.pyc │ ├── blocks.py │ ├── gcn.py │ ├── kernels │ │ ├── __pycache__ │ │ │ └── kernel_points.cpython-38.pyc │ │ ├── dispositions │ │ │ └── k_015_center_3D.ply │ │ └── kernel_points.py │ └── lib │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── benchmark.cpython-38.pyc │ │ ├── benchmark_utils.cpython-38.pyc │ │ ├── loss.cpython-38.pyc │ │ ├── ply.cpython-38.pyc │ │ ├── tester.cpython-38.pyc │ │ ├── timer.cpython-38.pyc │ │ ├── trainer.cpython-38.pyc │ │ └── utils.cpython-38.pyc │ │ ├── benchmark.py │ │ ├── benchmark_utils.py │ │ ├── loss.py │ │ ├── ply.py │ │ ├── tester.py │ │ ├── timer.py │ │ ├── trainer.py │ │ └── utils.py ├── __pycache__ │ ├── BUFFER.cpython-38.pyc │ ├── patch_embedder.cpython-38.pyc │ ├── patchnet.cpython-38.pyc │ ├── point_learner.cpython-38.pyc │ ├── point_learner_plus.cpython-38.pyc │ └── vn_layers.cpython-38.pyc ├── patch_embedder.py ├── patchnet.py ├── point.yaml ├── point_learner.py └── vn_layers.py └── utils ├── SE3.py ├── __pycache__ ├── SE3.cpython-38.pyc ├── common.cpython-36.pyc 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