Point Pillar Construction

[jola6897]

Hi,

thanks for providing your code to your paper. I checked point_cloud_ops.py where the point pillars are created from a point cloud. In the points_to_voxel*_kernel functions you use ndim=3. To me this indicates that you are mapping the points actually to 3d voxel cells instead of point pillars since if you have two points A=(x,y,0), B=(x,y,20) I would have assumed they are located in the same point pillar as they are just on top of each other, but for a voxel size in z < 20 they will never be associated to the same pillar.

Could you please clearify why you used ndim=3 instead of only considering x and y position? Maybe I am overlooking something.

Thanks a lot in advance.