- class mmcv.ops.RoIPointPool3d(num_sampled_points: int = 512)¶
Encode the geometry-specific features of each 3D proposal.
Please refer to Paper of PartA2 for more details.
num_sampled_points (int, optional) – Number of samples in each roi. Default: 512.
- forward(points: torch.Tensor, point_features: torch.Tensor, boxes3d: torch.Tensor) → Tuple[torch.Tensor]¶
A tuple contains two elements. The first one is the pooled features whose shape is (B, M, 512, 3 + C). The second is an empty flag whose shape is (B, M).
- Return type