About decoder and feature pyramid generation

[rorrewang]

Hi,thanks for your outstanding work! I wonder if it is appropriate for me to directly use the utoinia.pth for encoder and concerto_large_outdoor.pth for decoder , for example, to generate feature pyramids for a outdoors lidar pointcloud? I just hope to replace minknet feature with a better model.

[rorrewang]

Or can I build a sufficiently good feature pyramid using only utonia.pth？

[Yujia-Zhang0913]

Hi,
The decoder needs fine tuning as in Pointcept. If you want to just use utonia.pth, you can try attach the MLP as head to adapt the downstream tasks.