(self, points, indices, counts)
| 346 | return margin_vox |
| 347 | |
| 348 | def updownsampling_voxel(self, points, indices, counts): |
| 349 | summed_elements = torch.zeros(counts.shape[0], points.shape[-1]).cuda() |
| 350 | summed_elements = torch.scatter_add(summed_elements, dim=0, |
| 351 | index=indices.unsqueeze(1).repeat(1, points.shape[-1]), src=points) |
| 352 | updownsample_points = summed_elements / counts.unsqueeze(-1).repeat(1, points.shape[-1]) |
| 353 | return updownsample_points |
| 354 | |
| 355 | def create_voxels(self, frame): |
| 356 | points_raw = frame.get_points().cuda() |