RoIPointPool3d

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.

Parameters:

num_sampled_points (int, optional) – Number of samples in each roi. Default: 512.

forward(points: Tensor, point_features: Tensor, boxes3d: Tensor) → Tuple[Tensor]

Parameters:

• points (torch.Tensor) – Input points whose shape is (B, N, C).

• point_features (torch.Tensor) – Features of input points whose shape is (B, N, C).

• boxes3d (B, M, 7), Input bounding boxes whose shape is (B, M, 7)

Returns:

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:

tuple[torch.Tensor]