Some questions about the "grouped_xyz" and “grouped_idx”

CVMI-Lab / PAConv

(CVPR 2021) PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling on Point Clouds

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Some questions about the "grouped_xyz" and “grouped_idx” #23

Closed lin1061991611 closed 2 years ago

lin1061991611 commented 3 years ago

Hello, I read two important value named "grouped_xyz" and “grouped_idx” in /scene_seg/model/pointnet2/paconv.py ，and i can not understand it well, could you give some explanation ?

Dingry commented 2 years ago

Hi, in our code, grouped refers to a set of points that are in the same local area. _Groupedidx is the knn/ball-query index of each point and _groupedxyz is the coordinates requested by _groupedidx.