Megvii-BaseDetection
some concepts that not appear at paper
hello! thanks for your great works!
when i go into source code, i found "sweep", "ida" and "bda". these maybe something we have not seen in LSS. can you kindly explain the meaning of the three concepts? thanks!
--- update ---
sorry for my not familiar with nuscenes data. i google and found sweep images are not annotated intermediate frames (the counterpart of annotated keyframe). maybe the first sweep image (index 0 of sweep axis) in your code is keyframe. is that correct? but i still not know about "ida" and "bda". hope you can kindly make some explanation for them. thanks!
for example in LSSFPN
def forward(self,
sweep_imgs,
mats_dict,
timestamps=None,
is_return_depth=False):
"""Forward function.
Args:
sweep_imgs(Tensor): Input images with shape of (B, num_sweeps,
num_cameras, 3, H, W).
mats_dict(dict):
# ...
ida_mats(Tensor): Transformation matrix for ida with
shape of (B, num_sweeps, num_cameras, 4, 4).
# ...
bda_mat(Tensor): Rotation matrix for bda with shape
of (B, 4, 4).
# ...
"""
batch_size, num_sweeps, num_cams, num_channels, img_height, \
img_width = sweep_imgs.shape
# ... ...
Hello!
ida represents image data augmentation and bda represents bev data augmentation.
