sequenceDiagram
participant Geometry
participant User
participant Voxels
participant WarpConvNet
User->>WarpConvNet: create_geometry(points)
WarpConvNet-->>User: Geometry object
User->>Geometry: voxelize(voxel_size)
Geometry-->>User: Voxels object
User->>Voxels: sparse_conv(kernel_size)
Voxels-->>User: Features