Random sampling or fixed sampling?

[minwang-ai]

Hi,

According to the paper: Random Sampling (RS): We implement random sam- pling with the python numpy package. Specifically, we first use the numpy function numpy.random.choice() to generate K indices. We then gather the corresponding spatial coordinates and per-point features from point clouds by using these indices.

However, the sub_points and pool_index are generated by dividing sampling ratio and there is no random sampling there.

Could you tell me how did you implement random sampling?