Some qusetions about this project

[Ymr-zyh]

Dear aurhor:
I'm going to get the feature like hvnet getted,but i'm confused by the variate bellow
bev_mapping_pvs = input_dict['bev_mapping_pvs']
bev_mapping_vfs = input_dict['bev_mapping_vfs']
these variate were used in your code <vfe.utils.py> class HVFeatureNetFinal's forward function

through pcdet we can transfrom data to bach_dict,which is a dict with 'frame_id','gt_boxes','points','use_lead_xyz','voxels','voxel_coords','voxel_num_points','image_shape','batch_size'
I cant understand what is 'bev_mapping_pvs' and 'bev_mapping_vfs'means
if you see my question,please replay me.thanks!

[Ymr-zyh]

@AndyYuan96 if you see my question,please replay me.thanks!