Sample feature map at given coordinates
(self, feat_map, x)
| 77 | return [xy_feat, xz_feat, yz_feat] |
| 78 | |
| 79 | def sample_feature_plane2D(self, feat_map, x): |
| 80 | """Sample feature map at given coordinates""" |
| 81 | # feat_map: [1, C, H, W] |
| 82 | # x: [N, 2] |
| 83 | N = x.shape[0] |
| 84 | sample_coords = x.view(1, 1, N, 2) |
| 85 | feat = F.grid_sample(feat_map, sample_coords.flip(-1), |
| 86 | align_corners=False, padding_mode='border')[0, :, 0, :].transpose(0, 1) |
| 87 | return feat |
| 88 | |
| 89 | def decode(self, x, feat_maps, aabb=None): |
| 90 | # x [N, 3] |