scene context from different encoders

[pknmax]

hi @chrisdxie, @skanti,

• Does current inference code uses semi dense pointcloud only encoder, this part? >

• does the sample semi dense pointcloud from dataset comes with positional embedding?
  what does this really mean, positional embedding: we append the coordinates of the active sites to their respective feature vectors fi ← cat(fi, ci).?

• your experiments also contain scene context obtained from scene images as well as semi dense pointcloud,
  does this image encoder code exist in current code base? this part>

• any plan on providing updated training code?

thank you very much.