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RoIAwarePool3d

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

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

Please refer to PartA2 for more details.

参数
  • 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[源代码]
参数
  • 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.

返回

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

返回类型

torch.Tensor

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