├── LICENSE ├── README.md ├── assets ├── arch.png ├── convert_wod_to_kitti.py └── export_kitti_minimal.py ├── config.py ├── config ├── dist_sim_plot │ ├── kitti_distSimPlot.npz │ └── waymo_distSimPlot.npz ├── file_LoKITTI_50.npy ├── file_LoNUSCENES_50.npy ├── test_kitti.txt ├── train_kitti.txt └── val_kitti.txt ├── lib ├── __init__.py ├── data_loaders.py ├── eval.py ├── metrics.py ├── timer.py ├── trainer.py └── transforms.py ├── model ├── __init__.py ├── common.py ├── residual_block.py ├── resunet.py └── simpleunet.py ├── requirements.txt ├── scripts ├── SC2_PCR │ ├── 3DLoMatch.pkl │ ├── LICENSE │ ├── README.md │ ├── SC2_PCR.py │ ├── __init__.py │ ├── benchmark_utils.py │ ├── benchmark_utils_predator.py │ ├── benchmarks │ │ └── 3DLoMatch │ │ │ ├── 7-scenes-redkitchen │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ ├── sun3d-home_at-home_at_scan1_2013_jan_1 │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ ├── sun3d-home_md-home_md_scan9_2012_sep_30 │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ ├── sun3d-hotel_uc-scan3 │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ ├── sun3d-hotel_umd-maryland_hotel1 │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ ├── sun3d-hotel_umd-maryland_hotel3 │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ ├── sun3d-mit_76_studyroom-76-1studyroom2 │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ │ │ └── sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika │ │ │ ├── gt.info │ │ │ ├── gt.log │ │ │ └── gt_overlap.log │ ├── common.py │ ├── config.py │ ├── config_json │ │ ├── config_3DLoMatch.json │ │ ├── config_3DMatch.json │ │ └── config_KITTI.json │ ├── dataset.py │ ├── environment.yml │ ├── evaluate_metric.py │ ├── figures │ │ └── pipeline.png │ ├── test_3DLoMatch.py │ ├── test_3DMatch.py │ ├── test_KITTI.py │ └── utils │ │ ├── SE3.py │ │ ├── libpmc.so │ │ ├── max_clique.py │ │ ├── pointcloud.py │ │ ├── sinkhorn.py │ │ └── 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