Commits on Nov 6, 2024

1. Update quantization.cpp …

   Fixes a bug where conflicting labels are handled incorrectly. 
   
   Minimal script for reproducing bug
   
   import MinkowskiEngine as ME
   import numpy as np
   #-----Dummy inputs
   #(Other examples without conflicting labels, and with one point at a time behaves as expected)
   #Case 0: 2 pairs of redundant points, 1) with same labels 2) with different labels.
   #Expected behaviour: coords_aug_new = [1, 0, 0], labels_new = [11, 255], feats = [0,0,101], return_index = [0, 2], return_mapping = [0, 0, ]
   #Result: one ignore label, but in the wrong position.
   coords_aug = np.float32(np.array([
   [1, 0, 0],[1, 0, 0],
   [2, 0, 0], [2, 0, 0]
   ]))
   labels = np.array([
   11,11,
   20,21,
   ])
   feats = np.array([
   [0, 0, 101],[0, 0, 101],
   [0, 0, 101], [0, 0, 101]
   ])
   return_args_tmp = ME.utils.sparse_quantize(
   coords_aug, feats, labels=labels.astype(np.int32), ignore_label=255, return_index = True, return_inverse = True), #quantization_size=1)
   (coords_aug_new,feats_new,labels_new,voxel_return_index, voxel_return_mapping)=return_args_tmp[0]
   print("New labels: ", labels_new)
   print("New coords: ", coords_aug_new)
   print("Return index", voxel_return_index)
   print("Return mapping", voxel_return_mapping)

   

   asbe authored Nov 6, 2024
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