Voxels to point clouds

[cazhang]

From the downloaded scannet data, I see the point clouds are actually voxels, eg. arrays of [25, 221, 209]...
Could you explain the transformation from the continuous point clouds to this voxels?

Basically, im interested in finetuning the pretrained model for ScanRefer, I need to get the mapping from voxel to point coordinates. Right?

Thanks for your attention.