Some questions about pairwise_t_matrix.

[fengxueguiren]

Hi, how should we understand these scaling operations for pairwise_t_matrix? Thanks very much.

        pairwise_t_matrix[...,0,1] = pairwise_t_matrix[...,0,1] * H / W
        pairwise_t_matrix[...,1,0] = pairwise_t_matrix[...,1,0] * W / H
        pairwise_t_matrix[...,0,2] = pairwise_t_matrix[...,0,2] / (self.downsample_rate * self.discrete_ratio * W) * 2
        pairwise_t_matrix[...,1,2] = pairwise_t_matrix[...,1,2] / (self.downsample_rate * self.discrete_ratio * H) * 2

[yifanlu0227]

Sorry for the late reply, you need to dive deep a little bit to the affine_grid and grid_sample function, which treat the BEV feature map as an image wrapping transformation. Here is an illustration