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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 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 vscode launch.json debug 带caffe库的工程代码 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
value = value.masked_fill(input_padding_mask[..., None], float(0))
无左无右 · 2026-03-16 · via 博客园 - 无左无右

value[b, 23052, 256], input_padding_mask[b, 23052]
input_padding_mask[..., None][b, 23052, 1] input_padding_mask.dtype torch.bool
value = value.masked_fill(input_padding_mask[..., None], float(0))

等价于:
value[input_padding_mask] = 0