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XuyangBai / TransFusion

[PyTorch] Official implementation of CVPR2022 paper "TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers". https://arxiv.org/abs/2203.11496
Apache License 2.0
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How do I extract the X by Y by d features from LiDAR and the corresponding heatmap #39

Open ytan101 opened 2 years ago

ytan101 commented 2 years ago

Hi, thank you for the wonderful work you've done. I would like to ask if it is possible to extract F_L (as per the paper for the LiDAR features) and the heatmap through the code. I've tried looking into it but can't find any way. Thank you so much!

EDIT: For the X by Y by d, does it refer to the BEV points where X and Y are the coordinates and d is the total number of points?

XuyangBai commented 2 years ago

https://github.com/XuyangBai/TransFusion/blob/399bda09a3b6449313ccc302df40651f77ec78bf/mmdet3d/models/dense_heads/transfusion_head.py#L797-L808 Here is the F_L

https://github.com/XuyangBai/TransFusion/blob/399bda09a3b6449313ccc302df40651f77ec78bf/mmdet3d/models/dense_heads/transfusion_head.py#L839 Here is the heatmap

ytan101 commented 2 years ago

Thank you very much for the help