Question about intermediate BEV feature of the previous frame

[ged0606]

Hello, thanks for your great work!
Does the BEV feature of the previous frame is saved from previous computation, or computed at the same time with current frame? It seems cost less time using previous computation result when inference.

[HuangJunJie2017]

@ged0606 hi, the BEV feature is computed at the same time with the current frame. This repo is designed for research purposes and we try not to modify the testing logic of mmdet3d. It is suggested to save BEV feature from previous computation when testing the idea inference speed and deploying in practice. We will support this recently.

[ged0606]

I see, thanks for you reply!