In the self._forward_single_camera, you align the image column and polar ray with cross-attention, but there is no use of cam2lidar and cam_intrinsic, this does not correspond to the description in the Cross-plane encoder section of the paper. Please add to this section.
In the self._forward_single_camera, you align the image column and polar ray with cross-attention, but there is no use of cam2lidar and cam_intrinsic, this does not correspond to the description in the Cross-plane encoder section of the paper. Please add to this section.