RoIAwarePool3d

class mmcv.ops.RoIAwarePool3d(out_size: Union[int, tuple], max_pts_per_voxel: int = 128, mode: str = 'max')

Encode the geometry-specific features of each 3D proposal.

Please refer to PartA2 for more details.

Parameters

• out_size (int or tuple) – The size of output features. n or [n1, n2, n3].

• max_pts_per_voxel (int, optional) – The maximum number of points per voxel. Default: 128.

• mode (str, optional) – Pooling method of RoIAware, ‘max’ or ‘avg’. Default: ‘max’.

forward(rois: torch.Tensor, pts: torch.Tensor, pts_feature: torch.Tensor) → torch.Tensor

Parameters

• rois (torch.Tensor) – [N, 7], in LiDAR coordinate, (x, y, z) is the bottom center of rois.

• pts (torch.Tensor) – [npoints, 3], coordinates of input points.

• pts_feature (torch.Tensor) – [npoints, C], features of input points.

Returns

Pooled features whose shape is [N, out_x, out_y, out_z, C].

Return type

torch.Tensor