pointpillar VFE编码后的batch_dict

最新推荐文章于 2024-02-28 15:33:11 发布

THE@JOKER

最新推荐文章于 2024-02-28 15:33:11 发布

阅读量845

点赞数

分类专栏： PCDet

本文链接：https://blog.csdn.net/W1995S/article/details/115218650

版权

PCDet 专栏收录该内容

24 篇文章 84 订阅

订阅专栏

pointpillar点云范围 [0, -39.68, -3, 69.12, 39.68, 1]
x轴：69.12/0.16=432
y轴：39.68x2/0.16=496
num_voxel：432x496=214272

一个 batch_dict：
'batch_size'：        3  # 3帧点云
'points'              torch.Size([69375, 5])  # 点数目可变 猜测(? x y z r)
'frame_id'            (3,)  # 帧编号
'gt_boxes'            torch.Size([3, 40, 8])  # 3帧点，好像每帧最多40个ground truth，[x, y, z, 长dx, 宽dy, 高dz, 角度heading, 标签？]
'use_lead_xyz'        torch.Size([3])  # ？
'voxels'              torch.Size([17842, 32, 4]) # 体素
'voxel_coords'        torch.Size([17842, 4]) # 体素坐标
'voxel_num_points'    torch.Size([17842])  # 体素点数
'image_shape'         (3, 2) # 图像尺寸
'pillar_features'     torch.Size([17842, 64])  # pillar特征（C, P）的Tensor，特征维度C=64，Pillar非空P=17842个

定位：pcdet/models/backbones_3d/vfe/pillar_vfe.py

 batch_dict['pillar_features'] = features
 print('batch_dict-------------------','\n',batch_dict)
 return batch_dict


 {'points': tensor([[ 0.0000,  7.9304,  7.5917, -1.3303,  0.4300],
        [ 0.0000, 11.3303, 11.9430, -1.4232,  0.3400],
        [ 0.0000,  8.0975,  1.1898, -1.5597,  0.2600],
        ...,
        [ 2.0000,  8.4882,  0.3938, -1.4484,  0.0000],
        [ 2.0000, 13.6344, -8.9129, -1.0034,  0.2100],
        [ 2.0000,  9.7215,  6.7807, -0.3961,  0.2600]], device='cuda:0'), 
'frame_id': array(['005215', '002069', '003500'], dtype='<U6'), 
'gt_boxes': tensor([[[ 5.7295e+01,  2.0440e+01, -2.1650e-01,  4.1410e+00,  1.5384e+00,
           1.4029e+00, -2.5284e+00,  1.0000e+00],
         [ 4.8820e+01,  3.0917e+01, -2.9513e-01,  4.0733e+00,  1.5384e+00,
           1.3836e+00,  5.8477e-01,  1.0000e+00],
         [ 3.8455e+01,  2.3267e+01, -5.5141e-01,  4.0636e+00,  1.5577e+00,
           1.4029e+00,  3.5477e-01,  1.0000e+00],
         [ 1.5138e+01,  9.0413e+00, -7.9188e-01,  3.9379e+00,  1.4803e+00,
           1.4706e+00,  3.6477e-01,  1.0000e+00],
         [ 7.9959e+00,  8.9362e+00, -8.8172e-01,  4.2765e+00,  1.6351e+00,
           1.4610e+00,  2.1148e+00,  1.0000e+00],
         [ 5.7134e+00,  7.4342e+00, -7.4405e-01,  4.1991e+00,  1.6255e+00,
           1.7899e+00, -1.2284e+00,  1.0000e+00],
         [ 7.6553e+00,  6.4622e-02, -8.4023e-01,  3.8121e+00,  1.6255e+00,
           1.5480e+00, -2.7284e+00,  1.0000e+00],
         [ 1.5551e+01,  1.4004e+00, -7.9971e-01,  3.4347e+00,  1.6061e+00,
           1.4416e+00, -5.0523e-01,  1.0000e+00],
         [ 4.2634e+01,  1.0606e+01, -4.4068e-01,  4.0636e+00,  1.6158e+00,
           1.5190e+00,  2.5848e+00,  1.0000e+00],
         [ 3.8326e+01,  1.5593e+01, -5.3183e-01,  3.5315e+00,  1.5093e+00,
           1.4416e+00,  9.0477e-01,  1.0000e+00],
         [ 1.7284e+01,  7.1481e+00, -7.5139e-01,  3.2122e+00,  1.5771e+00,
           1.4997e+00,  4.0477e-01,  1.0000e+00],
         [ 4.6422e+01, -8.6800e+00, -3.6706e-01,  4.0443e+00,  1.5480e+00,
           1.5674e+00, -2.7084e+00,  1.0000e+00],
         [ 2.5571e+01,  1.0922e+01, -6.4875e-01,  3.5702e+00,  1.5964e+00,
           1.5093e+00,  4.1477e-01,  1.0000e+00],
         [ 2.0680e+01,  1.2441e+00, -9.0798e-01,  3.7734e-01,  3.8701e-01,
           1.1030e+00, -2.5584e+00,  2.0000e+00],
         [ 2.6503e+01,  1.6570e+01, -4.6470e-01,  1.1223e+00,  5.3214e-01,
           1.8577e+00, -1.7584e+00,  2.0000e+00],
         [ 1.5873e+01,  1.3103e+01, -7.2598e-01,  8.3208e-01,  6.0954e-01,
           1.5868e+00,  1.3648e+00,  2.0000e+00],
         [ 1.1606e+01,  9.3010e+00, -6.8882e-01,  6.5792e-01,  6.6760e-01,
           1.7609e+00,  4.0477e-01,  2.0000e+00],
         [ 9.0538e+00, -2.0078e+00, -7.3114e-01,  9.0948e-01,  6.3857e-01,
           1.7319e+00, -4.9523e-01,  2.0000e+00],
         [ 2.3907e+01, -5.4761e+00, -5.4864e-01,  4.8377e-01,  7.7402e-01,
           1.7416e+00,  1.2477e-01,  2.0000e+00],
         [ 1.4880e+01,  1.7696e+01, -8.1146e-01,  7.5467e-01,  5.3214e-01,
           1.4416e+00, -1.9184e+00,  2.0000e+00],
         [ 1.8249e+01, -2.9037e+00, -6.2623e-01,  6.8695e-01,  8.1273e-01,
           1.7222e+00,  2.0548e+00,  2.0000e+00],
         [ 2.4811e+01,  1.4669e+01, -5.0866e-01,  8.7078e-01,  4.8377e-01,
           1.8093e+00,  2.8148e+00,  2.0000e+00],
         [ 3.3599e+01,  1.1244e+00, -4.7351e-01,  1.8867e+00,  4.8377e-01,
           1.6642e+00, -2.7684e+00,  3.0000e+00],
         [ 1.0721e+01,  1.1343e+00, -7.5073e-01,  1.6255e+00,  5.4182e-01,
           1.6545e+00, -2.7484e+00,  3.0000e+00],
         [ 3.0161e+01,  6.9438e+00, -4.8188e-01,  1.6738e+00,  4.9344e-01,
           1.7319e+00, -2.7684e+00,  3.0000e+00],
         [ 2.2236e+01,  2.1150e+01, -5.8428e-01,  1.6448e+00,  4.2571e-01,
           1.7222e+00,  4.0477e-01,  3.0000e+00],
         [ 3.5548e+00,  5.5949e+00, -9.1450e-01,  1.6738e+00,  5.5149e-01,
           1.4997e+00, -1.1352e+00,  3.0000e+00],
         [ 1.9484e+01,  1.9940e+01, -6.8469e-01,  1.5287e+00,  3.2896e-01,
           1.5868e+00,  3.5477e-01,  3.0000e+00],
         [ 2.0240e+01,  1.7683e+01, -5.8796e-01,  1.7899e+00,  4.9344e-01,
           1.7609e+00,  4.0477e-01,  3.0000e+00],
         [ 2.8892e+01,  3.2110e+01, -4.9315e-01,  1.9351e+00,  4.9344e-01,
           1.7512e+00, -2.3784e+00,  3.0000e+00],
         [ 1.7279e+01,  3.6335e+00, -7.0707e-01,  1.9351e+00,  5.5149e-01,
           1.5868e+00, -2.7284e+00,  3.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00]],

        [[ 5.0290e+01, -5.8714e+00, -3.6239e-01,  4.0686e+00,  1.5947e+00,
           1.6867e+00,  2.9293e+00,  1.0000e+00],
         [ 1.5797e+01, -4.0473e+00, -7.6429e-01,  3.7722e+00,  1.6867e+00,
           1.5947e+00, -2.2391e-01,  1.0000e+00],
         [ 1.3643e+01,  4.4626e+00, -1.0890e+00,  3.5779e+00,  1.6561e+00,
           1.4516e+00,  1.4293e+00,  1.0000e+00],
         [ 8.7214e+00,  1.4070e+00, -1.0488e+00,  3.4348e+00,  1.5743e+00,
           1.4414e+00, -2.1391e-01,  1.0000e+00],
         [ 3.1499e+01,  4.5838e+00, -8.2195e-01,  4.5900e+00,  1.7174e+00,
           1.7072e+00,  2.9093e+00,  1.0000e+00],
         [ 2.4906e+01, -8.4878e+00, -6.0417e-01,  4.1606e+00,  1.6050e+00,
           1.5232e+00, -2.2391e-01,  1.0000e+00],
         [ 2.7168e+01,  1.1210e+01, -9.8407e-01,  4.3855e+00,  1.6356e+00,
           1.8196e+00,  2.8793e+00,  1.0000e+00],
         [ 3.7456e+01, -7.6753e+00, -5.1106e-01,  3.6904e+00,  1.7072e+00,
           1.5538e+00, -2.2391e-01,  1.0000e+00],
         [ 1.4671e+01,  1.3842e+00, -1.0006e+00,  4.5695e+00,  1.6254e+00,
           1.4414e+00,  3.0893e+00,  1.0000e+00],
         [ 2.4045e+01,  7.9825e+00, -9.3494e-01,  1.0938e+00,  6.6447e-01,
           1.7890e+00,  3.3609e-01,  2.0000e+00],
         [ 9.3010e+00, -1.8946e+00, -7.7881e-01,  9.9160e-01,  4.7024e-01,
           1.7890e+00,  1.3461e+00,  2.0000e+00],
         [ 8.5876e+00, -5.1187e+00, -6.9511e-01,  9.9160e-01,  4.7024e-01,
           1.7890e+00,  1.3461e+00,  2.0000e+00],
         [ 2.4509e+01, -2.4922e+00, -7.1227e-01,  8.8937e-01,  5.5202e-01,
           1.6458e+00,  2.9609e-01,  2.0000e+00],
         [ 2.3024e+01,  6.4491e+00, -9.7715e-01,  8.8937e-01,  5.2135e-01,
           1.6356e+00,  2.8693e+00,  2.0000e+00],
         [ 2.9240e+01, -1.1121e+01, -3.2788e-01,  6.9514e-01,  7.0536e-01,
           1.8605e+00, -2.1391e-01,  2.0000e+00],
         [ 2.0778e+01, -9.9790e+00, -4.1182e-01,  7.8714e-01,  6.2358e-01,
           1.8912e+00, -2.3391e-01,  2.0000e+00],
         [ 6.1866e+00,  2.4005e+00, -9.4836e-01,  5.2135e-01,  6.2358e-01,
           1.7378e+00, -2.0939e+00,  2.0000e+00],
         [ 1.6396e+01, -9.6382e+00, -4.0007e-01,  1.1143e+00,  7.3603e-01,
           2.0036e+00,  2.8593e+00,  2.0000e+00],
         [ 1.1875e+01, -2.5754e+00, -6.3719e-01,  7.5648e-01,  6.4403e-01,
           1.9934e+00, -3.1039e+00,  2.0000e+00],
         [ 2.4587e+01, -1.0259e+01, -3.8384e-01,  1.0325e+00,  7.8714e-01,
           1.8707e+00,  2.9493e+00,  2.0000e+00],
         [ 1.6133e+01, -1.1914e+01, -4.7704e-01,  8.4848e-01,  6.0314e-01,
           1.7276e+00, -2.2391e-01,  2.0000e+00],
         [ 2.4705e+01, -4.0082e+00, -6.8398e-01,  8.8937e-01,  6.8492e-01,
           1.6152e+00, -1.6391e-01,  2.0000e+00],
         [ 3.5037e+01,  2.6587e+00, -6.6362e-01,  1.9321e+00,  6.0314e-01,
           1.8605e+00,  2.9093e+00,  3.0000e+00],
         [ 1.0075e+01, -1.0375e+01, -6.1415e-01,  1.9730e+00,  8.9959e-01,
           1.6356e+00,  1.0261e+00,  3.0000e+00],
         [ 2.5789e+01, -5.6745e+00, -5.6266e-01,  2.1672e+00,  6.4403e-01,
           1.7481e+00, -1.6391e-01,  3.0000e+00],
         [ 1.9733e+01, -1.2923e+01, -4.6631e-01,  1.9730e+00,  8.9959e-01,
           1.6356e+00,  1.0261e+00,  3.0000e+00],
         [ 3.2043e+01, -1.7536e+01, -2.1952e-01,  1.6152e+00,  3.4757e-01,
           1.6765e+00, -1.7391e-01,  3.0000e+00],
         [ 1.9201e+01, -9.2839e+00, -4.8459e-01,  1.8605e+00,  6.4403e-01,
           1.8094e+00, -1.7391e-01,  3.0000e+00],
         [ 2.4191e+01,  3.9074e+00, -7.8490e-01,  1.9321e+00,  6.0314e-01,
           1.8605e+00,  2.9993e+00,  3.0000e+00],
         [ 1.1176e+01, -1.1996e+01, -4.4799e-01,  1.8912e+00,  5.2135e-01,
           1.8605e+00, -2.0391e-01,  3.0000e+00],
         [ 4.2556e+01,  1.8721e+00, -6.9412e-01,  1.5334e+00,  5.5202e-01,
           1.6356e+00,  2.8593e+00,  3.0000e+00],
         [ 1.7383e+01, -1.7321e+00, -7.1873e-01,  1.7378e+00,  8.4848e-01,
           1.7890e+00, -3.0139e+00,  3.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00],
         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,  0.0000e+00,
           0.0000e+00,  0.0000e+00,  0.0000e+00]],

        [[ 9.7567e+00,  1.0087e+00, -7.7787e-01,  3.6088e+00,  1.6137e+00,
           1.5257e+00,  6.8551e-02,  1.0000e+00],
         [ 5.8341e+00,  4.6334e+00, -7.6432e-01,  4.0684e+00,  1.5941e+00,
           1.4572e+00,  8.4855e-01,  1.0000e+00],
         [ 2.3058e+01,  6.2739e+00, -5.3664e-01,  3.7946e+00,  1.6821e+00,
           1.5061e+00,  8.9855e-01,  1.0000e+00],
         [ 3.3699e+01,  6.9065e+00, -5.2322e-01,  3.3838e+00,  1.4572e+00,
           1.4865e+00,  8.1855e-01,  1.0000e+00],
         [ 4.0094e+01,  7.0903e+00, -4.2997e-01,  3.5697e+00,  1.5746e+00,
           1.3594e+00,  8.7855e-01,  1.0000e+00],
         [ 1.1759e+01, -9.7322e+00, -8.8857e-01,  4.1075e+00,  1.5452e+00,
           1.5941e+00, -3.0846e+00,  1.0000e+00],
         [ 1.8511e+01, -9.1074e+00, -9.5225e-01,  3.9217e+00,  1.5354e+00,
           1.3105e+00, -3.0746e+00,  1.0000e+00],
         [ 3.4505e+01, -7.7043e+00, -6.9667e-01,  4.5281e+00,  1.6137e+00,
           1.4181e+00, -3.0346e+00,  1.0000e+00],
         [ 4.0585e+01, -7.3051e+00, -5.0637e-01,  3.8435e+00,  1.5550e+00,
           1.7702e+00, -3.0546e+00,  1.0000e+00],
         [ 5.0804e+01, -5.8425e+00, -4.2272e-01,  4.0978e+00,  1.5843e+00,
           1.5257e+00, -2.9346e+00,  1.0000e+00],
         [ 6.2906e+01, -2.8610e+00, -2.9917e-01,  4.4303e+00,  1.6332e+00,
           1.3887e+00, -2.7746e+00,  1.0000e+00],
         [ 3.3226e+01, -1.2224e+01, -5.5825e-01,  3.1393e+00,  1.4474e+00,
           1.4376e+00, -2.9046e+00,  1.0000e+00],
         [ 4.4635e+01, -1.7267e+01, -4.2123e-01,  4.2445e+00,  1.7408e+00,
           1.4376e+00, -2.7546e+00,  1.0000e+00],
         [ 3.9396e+01, -1.9484e+00, -6.2493e-01,  3.9608e+00,  1.6235e+00,
           1.4279e+00, -3.0846e+00,  1.0000e+00],
         [ 3.2007e+01, -4.4044e-01, -6.2413e-01,  3.8924e+00,  1.5061e+00,
           1.5452e+00, -2.9546e+00,  1.0000e+00],
         [ 2.4850e+01, -5.1860e+00, -8.5660e-01,  3.1198e+00,  1.4083e+00,
           1.3887e+00, -3.0446e+00,  1.0000e+00],
         [ 1.2545e+01,  5.2954e+00, -8.4642e-01,  3.7164e+00,  1.5257e+00,
           1.3496e+00,  8.8855e-01,  1.0000e+00],
         [ 2.4335e+01, -8.3126e+00, -8.0418e-01,  3.8337e+00,  1.3985e+00,
           1.6039e+00, -2.8246e+00,  1.0000e+00],
         [ 1.8709e+01,  5.4717e+00, -7.0700e-01,  4.1858e+00,  1.5452e+00,
           1.4865e+00,  2.2855e-01,  1.0000e+00],
         [ 4.7085e+01,  8.9869e-01, -4.0196e-01,  4.3520e+00,  1.8386e+00,
           1.6137e+00, -3.0546e+00,  1.0000e+00],
         [ 1.2468e+01, -2.4998e+00, -9.4125e-01,  3.5892e+00,  1.5843e+00,
           1.4083e+00, -3.0746e+00,  1.0000e+00],
         [ 1.9093e+01, -1.7060e+00, -7.5275e-01,  4.3520e+00,  1.8386e+00,
           1.6137e+00, -3.0846e+00,  1.0000e+00],
         [ 1.4782e+01,  6.0894e+00, -6.2329e-01,  8.1173e-01,  5.7701e-01,
           1.7213e+00, -3.0846e+00,  2.0000e+00],
         [ 8.7956e+00,  2.9155e+00, -7.6417e-01,  1.0562e+00,  4.4009e-01,
           1.6724e+00, -1.5114e+00,  2.0000e+00],
         [ 1.4829e+01, -2.6865e+00, -8.4964e-01,  5.1833e-01,  6.4547e-01,
           1.5452e+00, -1.3714e+00,  2.0000e+00],
         [ 7.5105e+00,  2.2803e+00, -7.1997e-01,  8.7041e-01,  6.4547e-01,
           1.8093e+00, -1.7946e+00,  2.0000e+00],
         [ 9.1216e+00,  5.0017e+00, -7.4713e-01,  4.3031e-01,  6.8459e-01,
           1.6332e+00,  4.8551e-02,  2.0000e+00],
         [ 8.8494e+00,  7.0595e+00, -6.6378e-01,  9.2909e-01,  5.1833e-01,
           1.7408e+00,  1.6086e+00,  2.0000e+00],
         [ 9.1552e+00, -5.1158e+00, -7.4546e-01,  1.2225e+00,  4.7921e-01,
           1.9560e+00, -1.4214e+00,  2.0000e+00],
         [ 2.5736e+01,  6.0646e+00, -4.7321e-01,  6.6503e-01,  6.7481e-01,
           1.7799e+00,  5.8551e-02,  2.0000e+00],
         [ 2.0099e+01,  1.1255e+01, -4.6322e-01,  4.8899e-01,  6.5525e-01,
           1.7604e+00,  5.9855e-01,  2.0000e+00],
         [ 2.1514e+01,  1.2169e+01, -5.8468e-01,  7.6283e-01,  5.3789e-01,
           1.4572e+00, -2.2746e+00,  2.0000e+00],
         [ 2.1938e+01, -1.1104e+01, -8.5530e-01,  1.7017e+00,  4.8899e-01,
           1.6430e+00, -3.0946e+00,  3.0000e+00],
         [ 2.2505e+01, -2.2638e+00, -6.4560e-01,  1.6724e+00,  4.9877e-01,
           1.7702e+00, -3.0846e+00,  3.0000e+00],
         [ 2.5007e+01,  9.6589e+00, -5.2220e-01,  1.6626e+00,  4.2053e-01,
           1.5843e+00,  5.8551e-02,  3.0000e+00],
         [ 3.2620e+01,  1.0165e+01, -4.2999e-01,  1.6626e+00,  4.2053e-01,
           1.5843e+00,  5.8551e-02,  3.0000e+00],
         [ 2.2235e+01,  9.8228e-01, -6.1678e-01,  1.9071e+00,  5.8679e-01,
           1.7310e+00,  6.7855e-01,  3.0000e+00],
         [ 1.1392e+01,  9.6386e+00, -5.7531e-01,  1.8093e+00,  4.9877e-01,
           1.7799e+00,  9.8551e-02,  3.0000e+00],
         [ 1.4690e+01, -4.0261e+00, -7.5013e-01,  1.6919e+00,  5.2811e-01,
           1.7897e+00, -3.0446e+00,  3.0000e+00],
         [ 1.8499e+01,  8.9191e+00, -6.1566e-01,  1.8875e+00,  8.6063e-01,
           1.5648e+00, -1.1914e+00,  3.0000e+00],
         [ 3.2768e+01,  1.3294e+01, -3.0064e-01,  1.6626e+00,  4.3031e-01,
           1.7408e+00,  5.8551e-02,  3.0000e+00]]], device='cuda:0'), 
'use_lead_xyz': tensor([1., 1., 1.], device='cuda:0'), 
'voxels': tensor([[[ 7.9304,  7.5917, -1.3303,  0.4300],
         [ 7.9199,  7.6777, -1.5383,  0.2900],
         [ 7.9358,  7.6109, -1.2133,  0.3900],
         ...,
         [ 7.9066,  7.6300, -1.2123,  0.2400],
         [ 7.9366,  7.6091, -0.8698,  0.6200],
         [ 7.9932,  7.6564, -0.7392,  0.3500]],

        [[11.3303, 11.9430, -1.4232,  0.3400],
         [11.2792, 11.9643, -1.4213,  0.4100],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         ...,
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000]],

        [[ 8.0975,  1.1898, -1.5597,  0.2600],
         [ 8.1190,  1.1275, -0.8820,  0.0000],
         [ 8.0930,  1.2668, -1.5616,  0.2600],
         ...,
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000]],

        ...,

        [[23.8290, -5.0446, -0.7182,  0.3000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         ...,
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000]],

        [[40.8137, -9.3320,  0.8401,  0.1300],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         ...,
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000]],

        [[17.6052,  7.2277,  0.8479,  0.2300],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         ...,
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000],
         [ 0.0000,  0.0000,  0.0000,  0.0000]]], device='cuda:0'), 
'voxel_coords': tensor([[  0.,   0., 295.,  49.],
        [  0.,   0., 322.,  70.],
        [  0.,   0., 255.,  50.],
        ...,
        [  2.,   0., 216., 148.],
        [  2.,   0., 189., 255.],
        [  2.,   0., 293., 110.]], device='cuda:0'), 
'voxel_num_points': tensor([32.,  2.,  8.,  ...,  1.,  1.,  1.], device='cuda:0'), 
'image_shape': array([[ 375, 1242],
       [ 375, 1242],
       [ 375, 1242]], dtype=int32), 
'batch_size': 3, 
'pillar_features': tensor([[3.6108, 0.0732, 0.0000,  ..., 0.0000, 0.6456, 1.0429],
        [5.1689, 0.2561, 0.2534,  ..., 0.2626, 0.7868, 1.3585],
        [1.4470, 0.2561, 0.2534,  ..., 0.2626, 1.1597, 1.0503],
        ...,
        [0.0000, 0.2561, 0.2534,  ..., 0.2626, 4.4831, 4.2587],
        [0.0000, 0.2561, 0.2534,  ..., 0.2626, 8.3016, 7.8468],
        [1.5537, 0.2561, 0.2534,  ..., 0.2626, 2.7390, 3.0314]],
       device='cuda:0', grad_fn=<SqueezeBackward0>)}

THE@JOKER

关注

0
点赞
踩
3

收藏

觉得还不错? 一键收藏
0
评论
pointpillar VFE编码后的batch_dict

pointpillar点云范围 [0, -39.68, -3, 69.12, 39.68, 1]x轴：69.12/0.16=432y轴：39.68x2/0.16=496num_voxel：432x496=214272一个 batch_dict：'batch_size'： 3 帧点云'points' torch.Size([69375, 5]) # 点数目可变猜测(? x y z r)'frame_id' (3,) # 帧编号
复制链接

扫一扫