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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