How should I export the data of camera_bevfeat of type const nvtype::half*, because I want to visualize the BEV results of Camera. Thank you very much.

[KaysenC]

Here is the code. I hope to view the camera_bevfeat data through csv file, it seems that the output dimension is {1x80x180x180}[float16].

const nvtype::half* forward_only(const void* camera_images, const nvtype::half* lidar_points, int num_points, void* stream, bool do_normalization) { int cappoints = static_cast(capacity_points_); if (num_points > cappoints) { printf("If it exceeds %d points, the default processing will simply crop it out.\n", cappoints); }

num_points = std::min(cappoints, num_points);

cudaStream_t _stream = static_cast<cudaStream_t>(stream);
size_t bytes_points = num_points * param_.lidar_scn.voxelization.num_feature * sizeof(nvtype::half);
checkRuntime(cudaMemcpyAsync(lidar_points_host_, lidar_points, bytes_points, cudaMemcpyHostToHost, _stream));
checkRuntime(cudaMemcpyAsync(lidar_points_device_, lidar_points_host_, bytes_points, cudaMemcpyHostToDevice, _stream));

const nvtype::half* lidar_feature = this->lidar_scn_->forward(lidar_points_device_, num_points, stream);
nvtype::half* normed_images = (nvtype::half*)camera_images;
if (do_normalization) {
  normed_images = (nvtype::half*)this->normalizer_->forward((const unsigned char**)(camera_images), stream);
}
const nvtype::half* depth = this->camera_depth_->forward(lidar_points_device_, num_points, 5, stream);

this->camera_backbone_->forward(normed_images, depth, stream);
const nvtype::half* camera_bev = this->camera_bevpool_->forward(
    this->camera_backbone_->feature(), this->camera_backbone_->depth(), this->camera_geometry_->indices(),
    this->camera_geometry_->intervals(), this->camera_geometry_->num_intervals(), stream);

const nvtype::half* camera_bevfeat = camera_vtransform_->forward(camera_bev, stream);
const nvtype::half* fusion_feature = this->transfusion_->forward(camera_bevfeat, lidar_feature, stream);
return camera_bevfeat;

}