SimaBEVPool.h File
SimaBEVPool Node — lift-splat pooling of camera depth and context into a BEV grid. More...
Included Headers
#include "builder/Node.h"
#include "builder/NodeContractProvider.h"
#include "builder/OutputSpec.h"
#include "nodes/sima/SimaKernelTypes.h"
#include "pipeline/TensorTypes.h"
#include <array>
#include <memory>
#include <string>
#include <vector>
Namespaces Index
| namespace | simaai |
| namespace | neat |
| namespace | nodes |
Classes Index
| struct | SimaBEVPoolOptions |
|
Construction options for a SimaBEVPool Node. More... | |
| class | SimaBEVPool |
|
Kernel Node that pools camera depth and context features into a BEV grid. More... | |
Description
SimaBEVPool Node — lift-splat pooling of camera depth and context into a BEV grid.
Runs the kernels-library bev_pool operation on A65 or EV74. For each BEV cell it sums depth x context over the frustum points that a SimaBEVPoolPlan plan assigns to it, then quantizes the sum for the next MLA segment.
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