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megvii-research / PETR

[ECCV2022] PETR: Position Embedding Transformation for Multi-View 3D Object Detection & [ICCV2023] PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images
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不太理解为什么bin_size 使用两个不同的坐标轴进行计算 #164

Open EveningLin opened 4 months ago

EveningLin commented 4 months ago

bin_size = (self.position_range[3] - self.depth_start) / (self.depth_num * (1 + self.depth_num)) 纯小白发言！self.position_range[3]和depth_start应该是两个方向吧，(self.position_range[3] - self.depth_start) 似乎没有几何含义？