PointGroup#

class PointGroup(backbone, backbone_out_channels=64, semantic_num_classes=20, semantic_ignore_index=-1, segment_ignore_index=(-1, 0, 1), instance_ignore_index=-1, cluster_thresh=1.5, cluster_closed_points=300, cluster_propose_points=100, cluster_min_points=50, voxel_size=0.02)[source]#: Bases: Module