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NVIDIA / MinkowskiEngine

Minkowski Engine is an auto-diff neural network library for high-dimensional sparse tensors
https://nvidia.github.io/MinkowskiEngine
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Does 'sparse_quantize' function support label-collision? #322

Closed chrockey closed 3 years ago

chrockey commented 3 years ago

Describe the bug I'm not sure it is intended that 'sparse_quantize' function does not support label collision now. https://github.com/NVIDIA/MinkowskiEngine/blob/7c3b87ffaf2fa4c5ee452b513b0f781d988d1bfa/MinkowskiEngine/utils/quantization.py#L269

To Reproduce Use sparse_quantize function with label collision.

Expected behavior Return ignore_label when there is label collision in a voxel.

chrischoy commented 3 years ago

Yes, the sparse quantize now do not support label collision in v0.5

From v0.5, I recommend not quantizing the point cloud during the data loading and use .slice() on a sparse tensor to recover the original point cloud like the example https://github.com/NVIDIA/MinkowskiEngine/blob/master/examples/indoor.py#L152.