Hello.
I have a (B, N, 3) pointsets and (B, N, 1) pointwise features which I wish to voxelize. The goal of this voxelisation is to be able to query from the voxel, (approximated) feature at any given point with minimal computation time. For example, given a new point and I wish to compute its feature, with a voxel representation, I can interpolate from neighbouring nodes of the given point, which is easy to compute knowing the edge information. Alternatively, I can use KNN , but when N is large (typically 1million), this operation is quite slow.
I can construct my voxels from pointset using torch.histogram, but how can I fill those voxels with my features instead of binary values? I can possibly use the weights option in torch.histogram however, my point-wise features contain negative values while I can imagine the histogram weights to be positive. Can someone please help me out?
Thank you.