How to achieve image to voxels projection?

[HalvesChen]

Hi!, there is a problem about your code. How to achieve image to voxels projection on scannetv2?

[Danila Rukhovich]

Hi @chendaozai ,

I don't quite understand your question. For ScanNet we load extrinsic and intrinsic matrices here, then multiply them to make the projection matrix here and finally project image features to voxels here.

[HalvesChen]

Thanks :)