├── CLIP.png ├── Figures ├── ProjectionFig.jpg ├── casesFigure.jpg ├── imagesDescription.txt ├── intro_Img.png ├── lar_arch.jpg ├── matches.png └── q_result.jpg ├── LICENSE ├── README.md ├── Untitled Document ├── clean_data_images.py ├── data_csv ├── nr3d.csv ├── scanRefer.csv ├── scannetv2-labels.combined.tsv ├── sr3d.csv ├── sr3d_test.csv └── sr3d_train.csv ├── del.py ├── prepare_scannet_data.py ├── referit3d ├── __init__.py ├── analysis │ ├── __init__.py │ ├── deepnet_predictions.py │ ├── utterances.py │ └── word_meanings.py ├── data │ ├── language │ │ ├── __init__.py │ │ ├── color_words.json.txt │ │ ├── nr3d │ │ │ ├── manually_inspected_bad_contexts.csv │ │ │ ├── test_scans.txt │ │ │ └── train_scans.txt │ │ ├── nr3d_target_class_to_idx.json.txt │ │ ├── sr3d │ │ │ ├── manually_inspected_bad_contexts.csv │ │ │ ├── references_to_human_language.json │ │ │ ├── semantics │ │ │ │ ├── instances_that_can_support.json │ │ │ │ └── instances_that_cannot_be_supported.json │ │ │ ├── test_scans.txt │ │ │ └── train_scans.txt │ │ └── symspell_frequency_dictionary_en_82_765.txt │ ├── mappings │ │ ├── nyu_40_classes_enumerated.txt │ │ ├── referIt3D_merged_instance_classes.json │ │ ├── scannet_20_benchmark_classes.txt │ │ ├── scannet_idx_to_semantic_class.json │ │ └── scannet_instance_class_to_semantic_class.json │ ├── scan2cad │ │ ├── bad_mappings.json │ │ ├── object_oriented_bboxes │ │ │ ├── object_oriented_bboxes.json │ │ │ ├── object_oriented_bboxes_aligned_scans.json │ │ │ └── readme.txt │ │ └── shapenet_has_front.csv │ └── scannet │ │ ├── README.md │ │ ├── scans_axis_alignment_matrices.json │ │ └── splits │ │ └── official │ │ └── v2 │ │ ├── scannetv2_sr_test.txt │ │ ├── scannetv2_sr_train.txt │ │ ├── scannetv2_train.txt │ │ └── scannetv2_val.txt ├── data_generation │ ├── __init__.py │ ├── nr3d │ │ ├── __init__.py │ │ ├── stimuli_generation.py │ │ └── tokenization.py │ └── sr3d │ │ ├── __init__.py │ │ ├── allocentric │ │ ├── allocentric_generator.py │ │ └── hp.yml │ │ ├── between │ │ ├── between_generator.py │ │ └── hp.yml │ │ ├── create_sr3d.py │ │ ├── horizontal_proximity │ │ ├── horizontal_generator.py │ │ └── hp.yml │ │ ├── reference.py │ │ ├── reference_generator.py │ │ └── vertical_proximity │ │ ├── hp.yml │ │ └── vertical_generator.py ├── external_tools │ ├── Scan2CAD │ │ ├── .gitignore │ │ ├── Assets │ │ │ ├── download_dataset.py │ │ │ ├── output-network │ │ │ │ └── example │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_0 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_1 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_2 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_3 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_4 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_5 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ ├── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_6 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ │ │ └── scene0470_00_03001627_b4371c352f96c4d5a6fee8e2140acec9_1_7 │ │ │ │ │ ├── gt-match.txt │ │ │ │ │ ├── gt-scale.txt │ │ │ │ │ ├── predict-match.txt │ │ │ │ │ └── predict-scale.txt │ │ │ ├── scannet-sample │ │ │ │ └── README.md │ │ │ ├── scannet-voxelized-sdf-sample │ │ │ │ └── README.md │ │ │ ├── shapenet-sample │ │ │ │ ├── 02747177 │ │ │ │ │ └── 85d8a1ad55fa646878725384d6baf445 │ │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ ├── 03001627 │ │ │ │ │ ├── 235c8ef29ef5fc5bafd49046c1129780 │ │ │ │ │ │ └── models │ │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ │ ├── 2c03bcb2a133ce28bb6caad47eee6580 │ │ │ │ │ │ └── models │ │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ │ ├── b4371c352f96c4d5a6fee8e2140acec9 │ │ │ │ │ │ └── models │ │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ │ └── bdc892547cceb2ef34dedfee80b7006 │ │ │ │ │ │ ├── images │ │ │ │ │ │ └── texture0.jpg │ │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ ├── 04379243 │ │ │ │ │ └── 142060f848466cad97ef9a13efb5e3f7 │ │ │ │ │ │ ├── images │ │ │ │ │ │ └── texture0.jpg │ │ │ │ │ │ └── models │ │ │ │ │ │ ├── model_normalized.json │ │ │ │ │ │ ├── model_normalized.mtl │ │ │ │ │ │ ├── model_normalized.solid.binvox │ │ │ │ │ │ └── model_normalized.surface.binvox │ │ │ │ └── README.md │ │ │ ├── shapenet-voxelized-df-sample │ │ │ │ ├── 02747177 │ │ │ │ │ └── 85d8a1ad55fa646878725384d6baf445__0__.df │ │ │ │ ├── 03001627 │ │ │ │ │ ├── 235c8ef29ef5fc5bafd49046c1129780__0__.df │ │ │ │ │ ├── 2c03bcb2a133ce28bb6caad47eee6580__0__.df │ │ │ │ │ ├── b4371c352f96c4d5a6fee8e2140acec9__0__.df │ │ │ │ │ └── bdc892547cceb2ef34dedfee80b7006__0__.df │ │ │ │ ├── 04379243 │ │ │ │ │ └── 142060f848466cad97ef9a13efb5e3f7__0__.df │ │ │ │ └── README.md │ │ │ └── training-data │ │ │ │ ├── CAD-heatmaps-sample │ │ │ │ └── README.md │ │ │ │ ├── scan-centers-sample │ │ │ │ └── README.md │ │ │ │ └── trainset.json │ │ ├── LICENSE.txt │ │ ├── Network │ │ │ ├── base │ │ │ │ ├── CSVHelper.py │ │ │ │ ├── ExtendBox │ │ │ │ │ ├── ExtendBox.cpp │ │ │ │ │ └── makefile │ │ │ │ ├── JSONHelper.py │ │ │ │ ├── Vox.py │ │ │ │ ├── error_metrics.py │ │ │ │ ├── kernels.py │ │ │ │ ├── loss_container.py │ │ │ │ ├── nms.py │ │ │ │ ├── pytorch_dataloader.py │ │ │ │ ├── sample_loader.py │ │ │ │ ├── test.py │ │ │ │ ├── user_query.py │ │ │ │ └── util.py │ │ │ └── pytorch │ │ │ │ ├── HeatmapStatistics.py │ │ │ │ ├── IsMatchStatistics.py │ │ │ │ ├── README.md │ │ │ │ ├── SaveOutput.py │ │ │ │ ├── custom_dataloader.py │ │ │ │ ├── dataloader.py │ │ │ │ ├── losses.py │ │ │ │ ├── main.py │ │ │ │ ├── model.py │ │ │ │ └── run.sh │ │ ├── README.md │ │ └── Routines │ │ │ ├── AlignmentHeatmap │ │ │ ├── CMakeLists.txt │ │ │ ├── Grid.h │ │ │ ├── MatrixLib │ │ │ │ ├── Base.props │ │ │ │ ├── MatrixLib.vcxproj │ │ │ │ ├── MatrixLib.vcxproj.filters │ │ │ │ ├── MatrixLibInclude.h │ │ │ │ ├── MatrixLibSerialization.h │ │ │ │ ├── main.cpp │ │ │ │ ├── matrix_structures │ │ │ │ │ ├── Mat2.h │ │ │ │ │ ├── Mat3.h │ │ │ │ │ ├── Mat4.h │ │ │ │ │ ├── MatrixOperations.h │ │ │ │ │ ├── MatrixStructuresInclude.h │ │ │ │ │ ├── Vec2.h │ │ │ │ │ ├── Vec3.h │ │ │ │ │ ├── Vec4.h │ │ │ │ │ ├── VecArrays.h │ │ │ │ │ └── VecX.h │ │ │ │ ├── pose_structures │ │ │ │ │ ├── AffineIncrement.h │ │ │ │ │ ├── AffinePose.h │ │ │ │ │ ├── Pose.h │ │ │ │ │ ├── PoseAliases.h │ │ │ │ │ ├── PoseArrays.h │ │ │ │ │ ├── PoseCommon.h │ │ │ │ │ ├── PoseIncrement.h │ │ │ │ │ ├── PoseOperations.h │ │ │ │ │ ├── PoseProcessing.h │ │ │ │ │ ├── PoseStructuresInclude.h │ │ │ │ │ ├── RigidPose.h │ │ │ │ │ ├── SE3.h │ │ │ │ │ ├── SO3.h │ │ │ │ │ └── UnitQuaternion.h │ │ │ │ ├── stdafx.cpp │ │ │ │ ├── stdafx.h │ │ │ │ ├── targetver.h │ │ │ │ └── utils │ │ │ │ │ ├── Constants.h │ │ │ │ │ ├── LibIncludeCPU.h │ │ │ │ │ ├── Math.h │ │ │ │ │ ├── Promotion.h │ │ │ │ │ ├── Serialization.h │ │ │ │ │ ├── SoAConversions.h │ │ │ │ │ ├── SoloIncludeCPU.cpp │ │ │ │ │ ├── SoloIncludeCPU.h │ │ │ │ │ ├── SoloSupport.h │ │ │ │ │ └── VectorMath.h │ │ │ ├── main-new.cpp │ │ │ ├── main-refractor.cpp │ │ │ ├── main.cpp │ │ │ └── run.sh │ │ │ ├── Base │ │ │ ├── Colormap.h │ │ │ ├── LoaderMesh.h │ │ │ ├── LoaderVOX.h │ │ │ ├── SE3.h │ │ │ ├── args.hxx │ │ │ ├── tiny_obj_loader.h │ │ │ ├── tinyply.cpp │ │ │ └── tinyply.h │ │ │ ├── CropCentered │ │ │ ├── Box.h │ │ │ ├── CropCentered.cpp │ │ │ ├── main.cpp │ │ │ └── makefile │ │ │ ├── DFGen │ │ │ ├── array1.h │ │ │ ├── array2.h │ │ │ ├── array3.h │ │ │ ├── config.h │ │ │ ├── hashgrid.h │ │ │ ├── hashtable.h │ │ │ ├── main.cpp │ │ │ ├── makefile │ │ │ ├── makelevelset3.cpp │ │ │ ├── makelevelset3.h │ │ │ ├── util.h │ │ │ └── vec.h │ │ │ ├── Keypoints2Grid │ │ │ ├── Keypoints2Grid.cpp │ │ │ └── makefile │ │ │ ├── Script │ │ │ ├── Alignment2Mesh.py │ │ │ ├── Alignment9DoF.py │ │ │ ├── Annotation2Mesh.py │ │ │ ├── CADVoxelization.py │ │ │ ├── CSVHelper.py │ │ │ ├── EvaluateBenchmark.py │ │ │ ├── GenerateCorrespondences.py │ │ │ ├── JSONHelper.py │ │ │ ├── Parameters.json │ │ │ ├── SE3.py │ │ │ ├── dummy_alignment.csv │ │ │ ├── example_annotation.json │ │ │ └── requirements.txt │ │ │ └── Vox2Mesh │ │ │ ├── Box3D.h │ │ │ ├── main.cpp │ │ │ └── makefile │ ├── __init__.py │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── _ext_src │ │ │ ├── include │ │ │ │ ├── ball_query.h │ │ │ │ ├── cuda_utils.h │ │ │ │ ├── group_points.h │ │ │ │ ├── interpolate.h │ │ │ │ ├── sampling.h │ │ │ │ └── utils.h │ │ │ └── src │ │ │ │ ├── ball_query.cpp │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ ├── bindings.cpp │ │ │ │ ├── group_points.cpp │ │ │ │ ├── group_points_gpu.cu │ │ │ │ ├── interpolate.cpp │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ ├── sampling.cpp │ │ │ │ └── sampling_gpu.cu │ │ ├── _version.py │ │ ├── pointnet2.py │ │ ├── pointnet2_modules.py │ │ ├── pointnet2_test.py │ │ ├── pointnet2_utils.py │ │ ├── pytorch_utils.py │ │ └── setup.py │ └── pointnet2_ │ │ ├── README.txt │ │ ├── pointnet2_modules.py │ │ ├── pointnet2_test.py │ │ ├── pointnet2_utils.py │ │ ├── pytorch_utils.py │ │ └── setup.py ├── in_out │ ├── __init__.py │ ├── arguments.py │ ├── cuboid.py │ ├── neural_net_oriented.py │ ├── nr3d.py │ ├── pt_datasets │ │ ├── __init__.py │ │ ├── listening_dataset.py │ │ └── utils.py │ ├── scan_2cad.py │ ├── scannet_scan.py │ ├── sr3d.py │ ├── three_d_object.py │ └── vocabulary.py ├── losses │ ├── SoftTriple.py │ └── contrastive_loss.py ├── models │ ├── __init__.py │ ├── backbone │ │ ├── __init__.py │ │ ├── convnext_tiny.py │ │ ├── dgcnn.py │ │ ├── lstm_encoder.py │ │ ├── mlp.py │ │ ├── point_net_pp.py │ │ ├── visual_encoder │ │ │ ├── __init__.py │ │ │ ├── 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