├── .gitignore ├── .style.yapf ├── README.md ├── config └── default.yaml ├── data ├── __init__.py ├── dataset.py └── desc_writer.py ├── diffvoxel ├── __init__.py ├── cuda │ ├── utils.cpp │ ├── utils.cuh │ └── voxelize_cuda_kernel.cu └── voxelization.py ├── evaluation ├── 3dmatch-toolbox │ ├── clusterCallback.m │ ├── computeRegistrationMetrics.m │ ├── evaluate.m │ ├── external │ │ └── ElasticReconstruction │ │ │ ├── mrDrawTrajectory.m │ │ │ ├── mrEvaluateRegistration.m │ │ │ ├── mrEvaluateTrajectory.m │ │ │ ├── mrLoadInfo.m │ │ │ ├── mrLoadLog.m │ │ │ ├── mrMatchDepthColor.m │ │ │ ├── mrWriteInfo.m │ │ │ └── mrWriteLog.m │ ├── getGtInfoLog.m │ ├── getKeyptsAndDesc.m │ ├── register2Fragments.m │ ├── runFragmentRegistration.m │ └── writeLog.m ├── __init__.py ├── config.yaml └── run_eval.py ├── exp └── 3dmatch_pretrained │ ├── 3dmatch.ckpt │ └── hparams.yaml ├── models ├── __init__.py ├── cnn3d.py ├── nnutils.py └── wsdesc.py ├── requirements.txt ├── res └── fig_pipeline.png ├── test.py ├── train.py └── utils ├── __init__.py ├── io.py ├── lmdb.py ├── loss.py ├── match3d.py └── pcd.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/craigleili/WSDesc/HEAD/.gitignore -------------------------------------------------------------------------------- /.style.yapf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/craigleili/WSDesc/HEAD/.style.yapf -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/craigleili/WSDesc/HEAD/README.md -------------------------------------------------------------------------------- /config/default.yaml: -------------------------------------------------------------------------------- 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