#nn.PointPillarsScatter

#class horizon_plugin_pytorch.nn.PointPillarsScatter(output_shape=None)

#forward(voxel_features: Tensor, coords: Tensor, output_shape: Tensor | list | tuple | None = None)

Forward of Horizon PointPillarsScatter.

• Parameters:
  • voxel_features – [M, …], dimention after M will be flattened.
  • coords – [M, (n, …, y, x)], only indices on N, H and W are used.
  • output_shape – Expected output shape. Defaults to None.
• Returns: The NCHW pseudo image.
• Return type: Tensor