About the LiDAR branch

[qzhang852]

Dear author, Thank you for your excellent work. I wonder how do you get LiDAR branch with semantic transfer, add the

sample_query_feature = sample_query_feature + sample_query_img_feat

directly in the transfusion_nusc_voxel_L.py ? Thank you for taking the time.

[yichen928]

Thanks for your interest. This line is in the semantic transfer module. This module gives a better initial query position for the LiDAR branch, but the initial query features of LiDAR branch still come from only the LiDAR branch. In this case, we can directly re-use the architecture and pretrained weight of transfusion-L without any modifications.