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博客园 - 无左无右

mmdetection3d-1.0.0rc0 安裝 左乘和右乘,行向量和列向量 grep -rl "math\.tan" /media/data_1/everyday/2025_down --include="*.py" - 无左无右 已知相机到车的rt 4x4矩阵,求pitch和yaw角度 torch.where(condition, x, y) 是一个三元运算符:如果条件为真,取 x 的值;如果条件为假,保持 y(即原本的 weights)不变。 for decoder_idx, (cls, reg) in enumerate(zip(cls_scores, reg_preds)): log_str += ', '.join(log_items) 左乘与右乘 GridMask--随机用“网格状”的遮挡去盖住图片的一部分,迫使模型学习更鲁棒的特征。 obtain_sensor2top函数, sensor → ego_s → global → ego_lidar → lidar assert osp.exists(self.table_root), 'Database version not found: {}'.format(self.table_root) Deformable-DETR 网页绘图,无需注册 value = value.masked_fill(input_padding_mask[..., None], float(0)) DETR 点云绕不同的轴旋转可视化,roll,pitch,yaw 相机坐标系转车辆坐标系以及相反, RT矩阵,旋转变换P_cam = rot_car2cam * P_car + trans_car2cam; P_cam = rot * (P_car - trans) 连续200帧的ego的RT矩阵R_prevel2wld,shape是[200,4,4],目标的rt矩阵的R_curpt2curvels的shape是[87, 200, 4, 4], 87是目标数量, 把t11时刻的目标对齐到t0, numpy实现 标注工具--抹除目标 ubuntu1804安装 mmdet3d 0.17.1 报错与解决 np.stack(a,axis=x), x=0,1,2 外参扰动 car_noise2cam = car2cam @ car_noise2car BEVDet-net部分 TP, FP, precision, recall bevdepth- 数据处理部分 ubuntu 硬盘挂载,重启后硬盘掉了 create_frustum 分析 (frustum = torch.stack((x_coords, y_coords, d_coords, paddings), -1)) sweep_lidar_depth = sweep_lidar_depth.reshape(batch_size * num_cams, *sweep_lidar_depth.shape[2:]) torch.where(condition, x, y) 自动驾驶,单目3D中的alpha角度
vscode launch.json debug 带caffe库的工程代码
无左无右 · 2025-10-31 · via 博客园 - 无左无右
{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息,请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "Python: 当前文件",
            "type": "python",
            "request": "launch",
            "program": "${file}",
            "console": "integratedTerminal",
            "justMyCode": true
        },
        {
            "name": "debug",
            "type": "python",
            "request": "launch",
            //"program":"/data/Anaconda/envs/pytorch1.7.0_new/lib/python3.7/site-packages/torch/distributed/launch.py",
            "program":"/data/Anaconda/envs/pytorch1.7.0/lib/python3.7/site-packages/torch/distributed/launch.py",
            "console": "integratedTerminal",
            "cwd": "${fileDirname}",
            "env": {
                "CUDA_VISIBLE_DEVICES": "2",
                "LD_LIBRARY_PATH": "/data/Anaconda/envs/pytorch1.7.0/lib:${env:LD_LIBRARY_PATH}"
            },
            "args": [
                "--nproc_per_node=1",
                "--master_port",
                "34778",
                "main.py"
            ]
        },
    ]
}