wehub-resource-sync
91 lines
3.9 KiB
Markdown
91 lines
3.9 KiB
Markdown
# voxelGenerator Plugin [DEPRECATED]
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**This plugin is deprecated since TensorRT 10.12 and will be removed in a future release. No alternatives are planned to be provided.**
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**Table Of Contents**
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- [Description](#description)
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* [Structure](#structure)
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- [Parameters](#parameters)
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- [Additional resources](#additional-resources)
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- [License](#license)
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- [Changelog](#changelog)
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- [Known issues](#known-issues)
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## Description
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The `voxelGeneratorPlugin` performs the generation of voxels(pillars) from raw points in a point cloud frame. This operation essentially quantize the 3D points in spacial dimensions(x, y, z) with a certain granularity. The output of this plugin will be a group of pillars.
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`voxelGeneratorPlugin` implements a quantization of 3D points in point cloud data and produces a groups of voxels. Each voxel is either empty or contains several points that are close to each other.
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This plugin is optimized for the above steps and it allows you to do PointPillars inference in TensorRT.
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### Structure
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The `voxelGeneratorPlugin` takes 2 inputs; `points`, and `num_points`.
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`points`
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The input raw points from a point cloud. The shape of this tensor is `[N, M, C]`, where `N` is batch size, `M` is the maximum number of points in a point cloud frame, and `C` is the number of channels for each point.
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Since point cloud data is sparse in nature, each frame will generally have different number of valid points(no more than `M`). Zero-padding should be applied properly to construct a dense tensor from a batch of point cloud frames.
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`num_points`
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The number of valid points in each frame. The valid number of points should be no more than `M`. The shape of this tensor is `[N]`.
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The `voxelGeneratorPlugin` generates the following 3 outputs:
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`voxels`
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The voxels generated by this plugin. The shape of this tensor is `[N, V, P, C']`, where `N` is batch size, `V` is the maximum number of voxels(pillars) per frame, `P` is the maximum number of points per voxel, and `C'` is the number of channels(features) per point in voxels.
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`voxel_coords`
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The coordinates of each voxel in `voxels`. This coordinates tensor will be used to compute a dense feature map indirectly from the `voxels`(after some reduction operations are applied to `voxels`). The shape of this tensor is `[N, V, 4]`, where `N, V` are as above and 4 is just the length of coordinates encoded as `(frame_id, z, y, x)`.
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`num_pillar`
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The number of valid voxels(pillars) in `voxels` for each frame. This will be used to generate the dense feature map. The shape of this tensor is `[N]`.
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## Parameters
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`voxelGeneratorPlugin` has plugin creator class `voxelGeneratorPluginCreator` and plugin class `voxelGeneratorPlugin`.
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The parameters are defined below and consists of the following attributes:
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| Type | Parameter | Description
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|----------|--------------------------|--------------------------------------------------------
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| `int` | `max_num_points_per_voxel` | Maximum number of points per voxel.
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| `int` | `max_voxels` | Maximum number of voxels to be generated per frame.
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| `list of floats` | `point_cloud_range` | The range of the point cloud coordinates.
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| `int` | `voxel_feature_num` | The number of channels of the generated voxels.
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| `list of floats` | `voxel_size` | The size of the voxels.
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## Additional resources
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The following resources provide a deeper understanding of the `voxelGeneratorPlugin` plugin:
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**Networks:**
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- [PointPillars](https://arxiv.org/pdf/1812.05784)
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**Documentation:**
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- [PointPillars](https://arxiv.org/pdf/1812.05784)
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## License
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For terms and conditions for use, reproduction, and distribution, see the [TensorRT Software License Agreement](https://docs.nvidia.com/deeplearning/sdk/tensorrt-sla/index.html)
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documentation.
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## Changelog
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May 2025
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Add deprecation note.
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Dec 2021
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This is the first release of this `README.md` file.
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## Known issues
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There are no known issues in this plugin.
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