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Question about random_sample_indices function #6

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linukc opened this issue Aug 10, 2024 · 0 comments
Open

Question about random_sample_indices function #6

linukc opened this issue Aug 10, 2024 · 0 comments

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@linukc
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linukc commented Aug 10, 2024

Hello @Kashu7100,
I am writing to express my gratitude for the excellent work and high-quality open-source code implementation.

Also, I am curious about random_sample_indices function. From what I understand, it seems to reflect this description from the paper:
"However, to optimize computation and memory usage in subsequent modules, we limit the storage of semantics to points near the surface. These points are strategically sampled based on the TSDF values, resulting in a more efficient representation"

Could you possibly elaborate on how this function implementation correlates with the aforementioned description? I'm a bit confused because I'm only seeing VoxelGrid buffer indices and the randperm method in the function code. Could you please clarify what am i missing?

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