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mit-han-lab / bevfusion

[ICRA'23] BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation
https://bevfusion.mit.edu
Apache License 2.0
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Input/output shapes of the BEVFusion.voxelize() method #616

Closed maxvandenhoven closed 3 months ago

maxvandenhoven commented 6 months ago

Thanks for the amazing work on BEVFusion!

I was trying to understand the code for the LiDAR encoder to re-use it in my own project, but I am having some issues with getting the entire project to run in order to inspect the tensor shapes. Could you help me with the input and output shapes of the BEVFusion.voxelize() method? I am particularly interested in the shape of the points input argument and the feats, coords, and sizes outputs. A brief description of what the dimensions are supposed to represent would also be greatly appreciated!

zhijian-liu commented 3 months ago

Thank you for your interest in our project. This repository is no longer actively maintained, so we will be closing this issue. Please refer to the amazing implementation at MMDetection3D. Thank you again!