SimaBEVPoolPlanOptions Struct

Construction options for a SimaBEVPoolPlan Node. More...

Declaration

struct simaai::neat::SimaBEVPoolPlanOptions { ... }

Included Headers

#include <SimaBEVPoolPlan.h>

Public Member Attributes Index

std::vector< float >	xs
	fW image-column samples, in input pixels. More...
std::vector< float >	ys
	fH image-row samples, in input pixels. More...
std::vector< float >	ds
	D depth bins, in metres. More...
std::array< float, 3 >	bx {}
	BEV grid cell centre of cell 0, per axis. More...
std::array< float, 3 >	dx {}
	BEV cell size, per axis. More...
std::array< int, 3 >	nx {}
	BEV cell counts nX, nY, nZ. More...
SimaBEVPoolPlanFormat	format = SimaBEVPoolPlanFormat::V1
	Plan layout. More...
int	context_channels = 0
	SimaBEVPool's C; required for V2. More...
TensorDType	input_dtype = TensorDType::Int8
	Element type of SimaBEVPool's depth and context: Int8 or BFloat16. More...
int	workers = 4
	V2: worker streams, 1..16. More...
int	tile_h = 8
	V2: work tile height in cells. More...
int	tile_w = 8
	V2: work tile width in cells. More...
bool	cache_plan = false
	Copy the last plan when the calibration repeats. More...
std::int64_t	plan_capacity_bytes = 0
	P; 0 selects the worst-case plan size. More...
SimaKernelTarget	target = SimaKernelTarget::A65
	Execution target. The kernels library implements SimaBEVPoolPlan on A65 only. More...

Description

Construction options for a SimaBEVPoolPlan Node.

The input Sample holds four FP32 tensors, in order: camera2lidar [N,4,4], camera_intrinsics [N,4,4], img_aug_matrix [N,4,4] and lidar_aug_matrix [4,4]. The output Sample holds one UINT8 plan tensor [P].

Copy xs, ys, ds, bx, dx and nx from the checkpoint's view transform: xs = frustum[0,0,:,0], ys = frustum[0,:,0,1] and ds = frustum[:,0,0,2].

Definition at line 38 of file SimaBEVPoolPlan.h.

Public Member Attributes

bx

std::array<float, 3> simaai::neat::SimaBEVPoolPlanOptions::bx {}

BEV grid cell centre of cell 0, per axis.

Definition at line 42 of file SimaBEVPoolPlan.h.

cache_plan

bool simaai::neat::SimaBEVPoolPlanOptions::cache_plan = false

Copy the last plan when the calibration repeats.

Definition at line 53 of file SimaBEVPoolPlan.h.

context_channels

int simaai::neat::SimaBEVPoolPlanOptions::context_channels = 0

SimaBEVPool's C; required for V2.

Definition at line 46 of file SimaBEVPoolPlan.h.

ds

std::vector<float> simaai::neat::SimaBEVPoolPlanOptions::ds

D depth bins, in metres.

Definition at line 41 of file SimaBEVPoolPlan.h.

dx

std::array<float, 3> simaai::neat::SimaBEVPoolPlanOptions::dx {}

BEV cell size, per axis.

Definition at line 43 of file SimaBEVPoolPlan.h.

format

SimaBEVPoolPlanFormat simaai::neat::SimaBEVPoolPlanOptions::format = SimaBEVPoolPlanFormat::V1

Plan layout.

Definition at line 45 of file SimaBEVPoolPlan.h.

input_dtype

TensorDType simaai::neat::SimaBEVPoolPlanOptions::input_dtype = TensorDType::Int8

Element type of SimaBEVPool's depth and context: Int8 or BFloat16.

A V2 plan budgets its caches in bytes, so BF16 halves them; V1 does not depend on it.

Definition at line 49 of file SimaBEVPoolPlan.h.

nx

std::array<int, 3> simaai::neat::SimaBEVPoolPlanOptions::nx {}

BEV cell counts nX, nY, nZ.

Definition at line 44 of file SimaBEVPoolPlan.h.

plan_capacity_bytes

std::int64_t simaai::neat::SimaBEVPoolPlanOptions::plan_capacity_bytes = 0

P; 0 selects the worst-case plan size.

Definition at line 54 of file SimaBEVPoolPlan.h.

target

SimaKernelTarget simaai::neat::SimaBEVPoolPlanOptions::target = SimaKernelTarget::A65

Execution target. The kernels library implements SimaBEVPoolPlan on A65 only.

Definition at line 56 of file SimaBEVPoolPlan.h.

tile_h

int simaai::neat::SimaBEVPoolPlanOptions::tile_h = 8

V2: work tile height in cells.

Definition at line 51 of file SimaBEVPoolPlan.h.

tile_w

int simaai::neat::SimaBEVPoolPlanOptions::tile_w = 8

V2: work tile width in cells.

Definition at line 52 of file SimaBEVPoolPlan.h.

workers

int simaai::neat::SimaBEVPoolPlanOptions::workers = 4

V2: worker streams, 1..16.

Definition at line 50 of file SimaBEVPoolPlan.h.

xs

std::vector<float> simaai::neat::SimaBEVPoolPlanOptions::xs

fW image-column samples, in input pixels.

Definition at line 39 of file SimaBEVPoolPlan.h.

ys

std::vector<float> simaai::neat::SimaBEVPoolPlanOptions::ys

fH image-row samples, in input pixels.

Definition at line 40 of file SimaBEVPoolPlan.h.

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The documentation for this struct was generated from the following file:

• SimaBEVPoolPlan.h

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