How can I reproduce where2comm in HEAL?

[zymard]

trafficstars

It seems that the code repository’s hypes_yaml folder does not provide the configuration file for where2comm.

[yifanlu0227]

Hi, HEAL does not implement the full where2comm, there is no confidence based feature selection, just the transformer encoder based feature fusion code snippet is included.

The fusion code can be found in here, and you can import it to opencood/models/heter_model_baseline.py or opencood/models/point_pillar_baseline.py as a new self.fusion_net with few modifications.

I didn't test it so there is no yaml file. But you get it easily by changing a few line of other yaml like https://github.com/yifanlu0227/HEAL/blob/60bf342d1868f84d89aca35155bf7b0617c0646f/opencood/hypes_yaml/opv2v/LiDAROnly/lidar_coalign.yaml#L132C1-L139C43