Question about the training about centerpoint-kitti HOT 1 OPEN

1. not 100 percent sure, but ckpt also includes optimizer state and pertained model only gets models ?
2. yes, we train
3. no, the voxelization is done separately in the data loader

   CenterPoint-KITTI/pcdet/datasets/processor/data_processor.py

   Line 50 in 222232e

   voxel_generator = VoxelGenerator(

We can also combine it inside voxelnet, see https://github.com/tianweiy/CenterPoint/blob/5b0e574a4478086ee9686702456aaca4f4115caa/det3d/models/readers/dynamic_voxel_encoder.py#L71 for an example

4. I never tried but that seems possible

5. no, it is only used in second stage centerpoint_rcnn.yaml

6. yeah, it is a line of works from CornerNet to CenterNet to ours. You can read the previous papers https://arxiv.org/pdf/1904.07850.pdf
   https://arxiv.org/abs/1808.01244

let me know if have any specific problems

from centerpoint-kitti.