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sensor2sensor_mats doesn't seem to be used. #178

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Camellia-hz opened this issue Sep 14, 2023 · 1 comment
Open

sensor2sensor_mats doesn't seem to be used. #178

Camellia-hz opened this issue Sep 14, 2023 · 1 comment

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@Camellia-hz
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@GOATmessi7 hello, May I ask how the feature map of keyframes and non-keyframes are aligned during the training process? Is the parameter sensor2sensor_mats used? But I don't use the parameter sensor2sensor_mats in BEVDepth/bevdepth/layers/backbones/base_lss_fpn.py file.
image
Is it appropriate to directly generate and ice a bev feature map of keyframes and non-keyframes like the code in the image?

@Camellia-hz
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@tonysy

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