where is the empty voxel feature in sparse voxel module ?

Question

where is the empty voxel feature in sparse voxel module ?

Closed this issue 3 years ago · 2 comments

I don't know where the code of empty voxel feature, can you tell me pls?

Answer 1 · 2021-11-04T13:32:17.000Z

We perform sparse attention only when we downsample the voxel resolutions, and that means those downsampled voxels are at previous empty locations. You can refer to Fig.7 in the appendix for illustration.

The code of voxel downsampling and attention is at pcdet/ops/votr_ops/src/build_mapping_gpu.cu.

Answer 2 · 2021-11-07T11:20:04.000Z

Closed if no other issues