How the camera features of different cars are transferred to the ego's bev?

yifanlu0227 / HEAL

[ICLR2024] HEAL: An Extensible Framework for Open Heterogeneous Collaborative Perception ➡️ All You Need for Multi-Modality Collaborative Perception!

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Closed nxdxml closed 2 months ago

nxdxml commented 2 months ago

heatmap I visualized the input camera features and could not find how the features were transferred under the ego's bev. encoding method：LSS

yifanlu0227 commented 2 months ago

Hi! The warping is implemented in function warp_affine_simple.

For example, you can see the Pyramid Fusion calls warp_affine_simple in here.

For other fusion methods, you can find we are doing the similar things, just call warp_affine_simple!

nxdxml commented 2 months ago

Thanks for the answer!

yifanlu0227 commented 2 months ago

Hey, and I have a wonderful illustration for the warp_affine_simple function: