├── LICENSE ├── README.md ├── assets └── teaser.png ├── experiments └── ColorPCR │ ├── backbone.py │ ├── config.py │ ├── dataset.py │ ├── eval.py │ ├── eval.sh │ ├── loss.py │ ├── model.py │ ├── test.py │ └── trainval.py ├── geotransformer ├── __init__.py ├── datasets │ ├── __init__.py │ └── registration │ │ ├── __init__.py │ │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ │ ├── kitti │ │ ├── __init__.py │ │ └── dataset.py │ │ ├── modelnet │ │ ├── __init__.py │ │ └── dataset.py │ │ └── threedmatch │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── dataset.cpython-38.pyc │ │ ├── dataset.py │ │ └── utils.py ├── engine │ ├── __init__.py │ ├── base_tester.py │ ├── base_trainer.py │ ├── epoch_based_trainer.py │ ├── iter_based_trainer.py │ ├── logger.py │ └── single_tester.py ├── extensions │ ├── common │ │ └── torch_helper.h │ ├── cpu │ │ ├── grid_subsampling │ │ │ ├── grid_subsampling.cpp │ │ │ ├── grid_subsampling.h │ │ │ ├── grid_subsampling_cpu.cpp │ │ │ ├── grid_subsampling_cpu.h │ │ │ ├── grid_subsampling_cpu_dps.cpp │ │ │ ├── grid_subsampling_cpu_dps.h │ │ │ ├── grid_subsampling_dps.cpp │ │ │ └── grid_subsampling_dps.h │ │ └── radius_neighbors │ │ │ ├── radius_neighbors.cpp │ │ │ ├── radius_neighbors.h │ │ │ ├── radius_neighbors_cpu.cpp │ │ │ └── radius_neighbors_cpu.h │ ├── extra │ │ ├── cloud │ │ │ ├── cloud.cpp │ │ │ └── cloud.h │ │ └── nanoflann │ │ │ └── nanoflann.hpp │ └── pybind.cpp ├── modules │ ├── __init__.py │ ├── geotransformer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── geotransformer.cpython-38.pyc │ │ │ ├── local_global_registration.cpython-38.pyc │ │ │ ├── point_matching.cpython-38.pyc │ │ │ ├── superpoint_matching.cpython-38.pyc │ │ │ └── superpoint_target.cpython-38.pyc │ │ ├── geotransformer.py │ │ ├── local_global_registration.py │ │ ├── point_matching.py │ │ ├── superpoint_matching.py │ │ └── superpoint_target.py │ ├── kpconv │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── functional.cpython-38.pyc │ │ │ ├── kernel_points.cpython-38.pyc │ │ │ ├── kpconv.cpython-38.pyc │ │ │ └── modules.cpython-38.pyc │ │ ├── dispositions │ │ │ └── k_015_center_3D.ply │ │ ├── functional.py │ │ ├── kernel_points.py │ │ ├── kpconv.py │ │ └── modules.py │ ├── layers │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── conv_block.cpython-38.pyc │ │ │ └── factory.cpython-38.pyc │ │ ├── conv_block.py │ │ └── factory.py │ ├── loss │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── circle_loss.cpython-38.pyc │ │ └── circle_loss.py │ ├── ops │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── grid_subsample.cpython-38.pyc │ │ │ ├── index_select.cpython-38.pyc │ │ │ ├── pairwise_distance.cpython-38.pyc │ │ │ ├── pointcloud_partition.cpython-38.pyc │ │ │ ├── radius_search.cpython-38.pyc │ │ │ ├── transformation.cpython-38.pyc │ │ │ └── vector_angle.cpython-38.pyc │ │ ├── grid_subsample.py │ │ ├── index_select.py │ │ ├── pairwise_distance.py │ │ ├── pointcloud_partition.py │ │ ├── radius_search.py │ │ ├── transformation.py │ │ └── vector_angle.py │ ├── registration │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── matching.cpython-38.pyc │ │ │ ├── metrics.cpython-38.pyc │ │ │ └── procrustes.cpython-38.pyc │ │ ├── matching.py │ │ ├── metrics.py │ │ └── procrustes.py │ ├── sinkhorn │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── learnable_sinkhorn.cpython-38.pyc │ │ └── learnable_sinkhorn.py │ └── transformer │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── conditional_transformer.cpython-38.pyc │ │ ├── lrpe_transformer.cpython-38.pyc │ │ ├── output_layer.cpython-38.pyc │ │ ├── pe_transformer.cpython-38.pyc │ │ ├── positional_embedding.cpython-38.pyc │ │ ├── rpe_transformer.cpython-38.pyc │ │ └── 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