question about get_proj_mat()?

Megvii-BaseDetection / BEVDepth

Official code for BEVDepth.

MIT License

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question about get_proj_mat()? #142

Open TmacTmac1992 opened 1 year ago

TmacTmac1992 commented 1 year ago

Hi,

When generating ring_map and ray_map, I don't understand why ring_map and ray_map will be accumulated and normalized, can you please help me to understand these two code?

        ring_map /= ring_map.max(1)[0].clip(min=1)[:, None]
        ray_map /= ray_map.max(1)[0].clip(min=1)[:, None]

ZRandomize commented 1 year ago

This is a trivial modulation that makes transformation using matrixvt more likely to VoxelPooling. However it almost wont affect final performance (i,e, using binary matrices is also fine)