World coordinate system to grid coordinate system

[LitterWindwind]

I want to know the specific location of the reconstructed point cloud in the grid. I use

` points = self.world2grid(points)
        points.clamp_min_(0.0)
        for i in range(3):
            points[:, i].clamp_max_(self.links.size(i) - 1)
        l = points.to(torch.long)
        for i in range(3):
            l[:, i].clamp_max_(self.links.size(i) - 2)
        wb = points - l
        wa = 1.0 - wb`

But I cannot get the right answer. Dose someone know it? thanks!

[LitterWindwind]

I use self.world2grid to convert the points.npy create from proc_colmap.sh. It can get better shape, but still cannot express itself in grid. Do I ignore something?

[cxzhou35]

I want to know the specific location of the reconstructed point cloud in the grid. I use

` points = self.world2grid(points)
        points.clamp_min_(0.0)
        for i in range(3):
            points[:, i].clamp_max_(self.links.size(i) - 1)
        l = points.to(torch.long)
        for i in range(3):
            l[:, i].clamp_max_(self.links.size(i) - 2)
        wb = points - l
        wa = 1.0 - wb`

But I cannot get the right answer. Dose someone know it? thanks!

Same problem as yours, have you found any solutions?