RoIAwarePool3d¶
- class mmcv.ops.RoIAwarePool3d(out_size: Union[int, tuple], max_pts_per_voxel: int = 128, mode: str = 'max')[source]¶
Encode the geometry-specific features of each 3D proposal.
Please refer to PartA2 for more details.
- Parameters
- forward(rois: torch.Tensor, pts: torch.Tensor, pts_feature: torch.Tensor) → torch.Tensor[source]¶
- 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