Is `occ_pooling` support z-dim >1 ?

JeffWang987 / OpenOccupancy

[ICCV 2023] OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception

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Is `occ_pooling` support z-dim >1 ? #34

Closed OrangeSodahub closed 1 year ago

OrangeSodahub commented 1 year ago

Great work! I would like to know that if the occ_pooling support pooling multiple frustums into whole voxel with z-dim >1? Which is different from pure LSS.

https://github.com/JeffWang987/OpenOccupancy/blob/2c57112495bc071f678c764dbe24c06c2ddb243b/projects/occ_plugin/occupancy/image2bev/ViewTransformerLSSVoxel.py#L97-L121

JeffWang987 commented 1 year ago

Yes, the occ_pool operation pools multiple frustums into a voxel feature with shape of [B, C, Z, X, Y]. https://github.com/JeffWang987/OpenOccupancy/blob/2c57112495bc071f678c764dbe24c06c2ddb243b/projects/occ_plugin/occupancy/image2bev/ViewTransformerLSSVoxel.py#L118