From df3e845e556443aee0a711708ad57717d8384f82 Mon Sep 17 00:00:00 2001 From: inter Date: Sun, 21 Sep 2025 20:18:41 +0800 Subject: [PATCH] Add File --- .../map_to_bev/height_compression.py | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 pcdet/models/backbones_2d/map_to_bev/height_compression.py diff --git a/pcdet/models/backbones_2d/map_to_bev/height_compression.py b/pcdet/models/backbones_2d/map_to_bev/height_compression.py new file mode 100644 index 0000000..98c8e57 --- /dev/null +++ b/pcdet/models/backbones_2d/map_to_bev/height_compression.py @@ -0,0 +1,26 @@ +import torch.nn as nn + + +class HeightCompression(nn.Module): + def __init__(self, model_cfg, **kwargs): + super().__init__() + self.model_cfg = model_cfg + self.num_bev_features = self.model_cfg.NUM_BEV_FEATURES + + def forward(self, batch_dict): + """ + Args: + batch_dict: + encoded_spconv_tensor: sparse tensor + Returns: + batch_dict: + spatial_features: + + """ + encoded_spconv_tensor = batch_dict['encoded_spconv_tensor'] + spatial_features = encoded_spconv_tensor.dense() + N, C, D, H, W = spatial_features.shape + spatial_features = spatial_features.view(N, C * D, H, W) + batch_dict['spatial_features'] = spatial_features + batch_dict['spatial_features_stride'] = batch_dict['encoded_spconv_tensor_stride'] + return batch_dict