feat(BEVFusion): export bevfusion-camera onnx#183
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KSeangTan merged 34 commits intotier4:mainfrom Feb 13, 2026
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projects/BEVFusion/configs/deploy/bevfusion_camera_point_bev_tensorrt_dynamic.py
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Overall LGTM, minor comments.
Please consider if we can update README file 🙏🏻.
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Thanks! It's updated here: 78f4337 |
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Summary
This PR updates the deployment script in BEVFusion for LiDAR and Camera-only. This PR also cleans up the code in
torch2onnxto make it more modular.Change point
pointsis not available [1]projects/BEVFusion/configs/deploy/bevfusion_camera_point_bev_tensorrt_dynamic.pyfor bevfusion_camera_only deployment config [2]projects/BEVFusion/configs/deploy/bevfusion_main_body_lidar_only_intensity_tensorrt_dynamic.pyfor bevfusion_lidar_only with intensities [3]projects/BEVFusion/deploy/builder.pyto move all code related to ONNX deployment configs to this file [4]TrtBevFusionCameraOnlyContainerto container for the camera-only network [5]projects/BEVFusion/deploy/exporter.pyto move all code related to model export to this file [5]projects/BEVFusion/deploy/utils.pyto move all code related to config setup to this file [6]VoxelDetectionto include the cases for images and lidar points [7], [8], [9]Test performed
Autoware. However, the camera-only is not tested yet since we need to make few changes first.