├── .gitignore ├── .gitmodules ├── LICENSE ├── Readme.md ├── assets └── regtr_network.png ├── data ├── Readme.txt ├── indoor │ └── test │ │ ├── 7-scenes-redkitchen │ │ ├── cloud_bin_0.info.txt │ │ ├── cloud_bin_0.pth │ │ ├── cloud_bin_5.info.txt │ │ └── cloud_bin_5.pth │ │ ├── sun3d-home_at-home_at_scan1_2013_jan_1 │ │ ├── cloud_bin_38.info.txt │ │ ├── cloud_bin_38.pth │ │ ├── cloud_bin_41.info.txt │ │ └── cloud_bin_41.pth │ │ └── sun3d-hotel_umd-maryland_hotel3 │ │ ├── cloud_bin_15.info.txt │ │ ├── cloud_bin_15.pth │ │ ├── cloud_bin_8.info.txt │ │ └── cloud_bin_8.pth └── modelnet_demo_data │ ├── modelnet_test_2_0.ply │ ├── modelnet_test_2_1.ply │ ├── modelnet_test_630_0.ply │ └── modelnet_test_630_1.ply ├── src ├── benchmark │ ├── Readme.txt │ ├── benchmark_3dmatch.py │ ├── benchmark_modelnet.py │ └── benchmark_predator.py ├── conf │ ├── 3dmatch.yaml │ └── modelnet.yaml ├── cvhelpers │ ├── Readme.txt │ ├── __init__.py │ ├── colors.py │ ├── lie │ │ ├── __init__.py │ │ ├── numpy │ │ │ ├── __init__.py │ │ │ ├── liegroupbase.py │ │ │ ├── se3.py │ │ │ ├── se3_common.py │ │ │ ├── so3.py │ │ │ └── so3_common.py │ │ └── torch │ │ │ ├── __init__.py │ │ │ ├── liegroupbase.py │ │ │ ├── se3.py │ │ │ ├── se3_common.py │ │ │ ├── so3.py │ │ │ ├── so3_common.py │ │ │ └── utils.py │ ├── misc.py │ ├── open3d_helpers.py │ ├── torch_helpers.py │ └── visualization │ │ ├── Readme.txt │ │ ├── __init__.py │ │ ├── objects.py │ │ ├── visualizer.py │ │ └── vtk_object.py ├── data_loaders │ ├── __init__.py │ ├── collate_functions.py │ ├── modelnet.py │ ├── modelnet_transforms.py │ ├── threedmatch.py │ └── transforms.py ├── data_processing │ ├── __init__.py │ └── compute_overlap_3dmatch.py ├── datasets │ ├── 3dmatch │ │ ├── Readme.txt │ │ ├── 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 │ │ │ └── 3DMatch │ │ │ │ ├── 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 │ │ ├── test_3DLoMatch_info.pkl │ │ ├── test_3DMatch_info.pkl │ │ ├── train_info.pkl │ │ └── val_info.pkl │ ├── Readme.txt │ └── modelnet │ │ ├── modelnet40_all.txt │ │ ├── modelnet40_half1.txt │ │ └── modelnet40_half2.txt ├── demo.py ├── evaluate_3dmatch.py ├── kernels │ └── dispositions │ │ └── k_015_center_3D.ply ├── models │ ├── __init__.py │ ├── backbone_kpconv │ │ ├── Readme.txt │ │ ├── __init__.py │ │ ├── cpp_wrappers │ │ │ ├── Readme.txt │ │ │ ├── compile_wrappers.sh │ │ │ ├── cpp_neighbors │ │ │ │ ├── build.bat │ │ │ │ ├── neighbors │ │ │ │ │ ├── neighbors.cpp │ │ │ │ │ └── neighbors.h │ │ │ │ ├── setup.py │ │ │ │ └── wrapper.cpp │ │ │ ├── cpp_subsampling │ │ │ │ ├── build.bat │ │ │ │ ├── grid_subsampling │ │ │ │ │ ├── grid_subsampling.cpp │ │ │ │ │ └── grid_subsampling.h │ │ │ │ ├── setup.py │ │ │ │ └── wrapper.cpp │ │ │ └── cpp_utils │ │ │ │ ├── cloud │ │ │ │ ├── cloud.cpp │ │ │ │ └── cloud.h │ │ │ │ └── nanoflann │ │ │ │ └── nanoflann.hpp │ │ ├── kernels │ │ │ ├── dispositions │ │ │ │ └── k_015_center_3D.ply │ │ │ └── kernel_points.py │ │ ├── kpconv.py │ │ ├── kpconv_blocks.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ └── ply.py │ ├── generic_model.py │ ├── generic_reg_model.py │ ├── losses │ │ ├── __init__.py │ │ ├── corr_loss.py │ │ └── feature_loss.py │ ├── regtr.py │ ├── scheduler │ │ ├── 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