cosense3d.modules.projection package

Submodules

cosense3d.modules.projection.fax module

class cosense3d.modules.projection.fax.FAXModule(middle, dim, img_size, strides, feat_dims, cross_view, cross_view_swap, bev_embedding, self_attn, **kwargs)

Bases: BaseModule

forward(img_feat, intrinsic, extrinsic, **kwargs)

Defines the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

training: bool

cosense3d.modules.projection.fax.ResNetBottleNeck(c)

cosense3d.modules.projection.petr module

class cosense3d.modules.projection.petr.PETR(in_channels, transformer, position_range, num_reg_fcs=2, num_pred=3, topk=2048, num_query=644, depth_num=64, LID=True, depth_start=1, **kwargs)

Bases: BaseModule

format_input(input: List)

forward(img_feat, img_roi, img_coor, img_size, intrinsics, lidar2img, **kwargs)

Defines the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

gather_topk(img_feat, img_roi, img_coor, img_size, intrinsics, lidar2img)

img_position_embeding(img_memory, img_pos, Is, img2lidars)

init_weights()

training: bool

cosense3d.modules.projection.spatial_transform module

class cosense3d.modules.projection.spatial_transform.STTF(resolution, downsample_rate, use_roi_mask=True, **kwargs)

Bases: BaseModule

forward(bev_feat, requests, coop_poses, **kwargs)

Transform the bev features to ego space.

training: bool

Module contents

Modules for projecting image features to BEV space