Variable size point clouds

[cmb87]

Hello luis-gonzales,
first of all thank you very much for your code! This is really some good inspiration.

I was wondering if it is possible to implement variable sized point clouds? I saw the points you used have all a fixed length of 1024. Is there any way to make it work on the original data set (point cloud sizes varies from just a few hundred to 150k pts)? I guess batching will be troublesome, maybe it could work with padding or as ragged tensor?

[JordanMakesMaps]

@cmb87 I think this could be done, just adjust the hard-coded value and if you point clouds are variable in size, just find the upper-bound (150K points) and pad all of the point clouds with less than 150K points via point duplication (e.g., over sampling).