├── .gitignore ├── .vscode ├── launch.json └── settings.json ├── LICENSE ├── OP_environment.yml ├── README.md ├── SPConvNets ├── __init__.py ├── datasets │ ├── LightDataset.py │ ├── MotionDataset.py │ ├── MotionDatasetPartial.py │ ├── MotionHOIDataset.py │ ├── MotionHOIDatasetPartial.py │ ├── RealDataset.py │ ├── __init__.py │ ├── data_utils.py │ ├── evaluation │ │ ├── ply_io.py │ │ ├── retrieval.py │ │ └── utils.py │ ├── evaluation_3dmatch.py │ ├── generate_eval.py │ ├── match_3dmatch.py │ ├── modelnet40.py │ ├── part_transform.py │ └── preprocess │ │ ├── run_fusion.py │ │ ├── run_keypoint.py │ │ └── tool.py ├── models │ ├── __init__.py │ ├── art_encoder.py │ ├── art_metric.py │ ├── art_so3net_pn.py │ ├── cls_so3net_pn.py │ ├── cls_so3net_vx.py │ ├── common_utils.py │ ├── inv_so3net_pn.py │ ├── model_util.py │ ├── net_bank │ │ ├── gcn3d.py │ │ ├── slot_attention.py │ │ └── vanilla_pn.py │ └── reg_so3net.py ├── options.py ├── trainer_art.py └── utils │ ├── __init__.py │ ├── base_so3conv.py │ ├── chamfer.py │ ├── lietorch.py │ ├── loss_util.py │ └── plot.py ├── pyrightconfig.json ├── readme_fig_dataset.png ├── readme_fig_network.png ├── run_art.py └── vgtk ├── README.md ├── setup.py └── vgtk ├── __init__.py ├── app ├── __init__.py ├── logger.py ├── parse_config.py ├── summary.py ├── timer.py └── trainer.py ├── camera ├── __init__.py ├── look.py ├── look_at.py └── projection.py ├── cuda ├── __init__.py ├── gathering_cuda.cpp ├── gathering_cuda_kernel.cu ├── grouping_cuda.cpp ├── grouping_cuda_kernel.cu ├── zpconv_cuda.cpp └── zpconv_cuda_kernel.cu ├── data ├── __init__.py ├── anchors │ ├── __init__.py │ ├── kpsphere24.ply │ ├── kpsphere30.ply │ ├── kpsphere66.ply │ ├── sphere12.ply │ ├── sphere162.ply │ ├── sphere42.ply │ └── sphere92.ply └── anchors_backup │ ├── sphere12.ply │ ├── sphere162.ply │ ├── sphere20.ply │ ├── sphere24.ply │ ├── sphere242.ply │ ├── sphere30.ply │ ├── sphere4.ply │ ├── sphere49.ply │ ├── sphere6.ply │ ├── sphere62.ply │ ├── 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