Requirements

• Pytorch (tested on 1.9.0)
• Pytorch3D
• lietorch
• Mayavi & open3D for visualization

install

cd cxx
python setup.py install

Run on the moose example, leveraging the sparse landmark correspondences predicted by Leaprd

python main.py config.yaml

Config the w_ldmk to 0 to get results of the vanilla N-ICP.

Point clouds before and after registration