Inquires about 'origin' parameter in scannet/other datasets

[Cindy0725]

Hi, I have a question about this line of code when processing the multi-view ScanNet Dataset:

imvoxelnet/mmdet3d/datasets/scannet_monocular_dataset.py

Line 27 in 655094d

origin = np.array([.0, .0, .5])

During training, you add a random shift to this origin so it becomes (x,x,0.5). I am wondering the physical meaning of this origin parameter. Do we need to change this value when adopting different datasets, like ARkitScenes? And is there any connection with the depth coordinate system in mmdetection3d? Since I also see an origin parameter there:

Thank you very much! Looking forward to your kind reply.

[filaPro]

It's just some point near the mean of the all points of all scenes. Just to be sure that our voxel volume covers most of the objects.