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question about the I2P block #33

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HydrogenWasser opened this issue Nov 14, 2023 · 0 comments

HydrogenWasser commented Nov 14, 2023

In your paper, about the part of attention output of I2P block, it said the query should be image feature.

but in your code, encoder_utils, line 284,

Q = lidar_feat[b,:,voxel_coor[:,2].long(),voxel_coor[:,3].long()].t().unsqueeze(1)

it seems the query is lidar feature but not image feature

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