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Haiyang-W / DSVT

[CVPR2023] Official Implementation of "DSVT: Dynamic Sparse Voxel Transformer with Rotated Sets"
https://arxiv.org/abs/2301.06051
Apache License 2.0
373 stars 28 forks source link

Questions about voxels? #78

Closed git-xuefu closed 2 weeks ago

git-xuefu commented 3 weeks ago

How do I convert point clouds into voxel features? Where is the Voxel Feature Encoder involved in the code?

chenshi3 commented 2 weeks ago

Here: https://github.com/Haiyang-W/DSVT/blob/8cfc2a6f23eed0b10aabcdc4768c60b184357061/pcdet/datasets/processor/data_processor.py#L120

git-xuefu commented 2 weeks ago

Here:

https://github.com/Haiyang-W/DSVT/blob/8cfc2a6f23eed0b10aabcdc4768c60b184357061/pcdet/datasets/processor/data_processor.py#L120

Thank you for your reply!