mmdetection3d(3)---网络输出

boxes_preds:

seed_points
seed_points
vote_points
vote_features
vote_offset
aggregated_points
aggregated_features
obj_scores
center_offset
center
size
dir_class

对于网络检测输出的bbox，具体的打印格式如下
限制了ｓｃｏｒｅ>0.5

<class 'list'>
[{'boxes_3d': LiDARInstance3DBoxes(
    tensor([[30.2626, -0.6454, -0.7021,  1.6633,  3.5731,  1.5774,  1.5827],
        [36.6007,  3.8564, -0.6431,  1.6344,  3.8559,  1.5411,  4.6442],
        [24.6624,  3.8071, -0.8209,  1.6143,  4.0631,  1.5424,  4.6454],
        [17.8412,  3.8099, -0.9454,  1.6326,  4.1052,  1.4439,  4.7972]])), 'scores_3d': tensor([0.8437, 0.6146, 0.8867, 0.9141]), 'labels_3d': tensor([0, 0, 0, 0])}]



up z    x front (yaw=-0.5*pi)
                               ^   ^
                               |  /
                               | /
      (yaw=-pi) left y <------ 0 -------- (yaw=0)
 Each row is (x, y, z, x_size, y_size, z_size, yaw)
 
 yaw加了一个pi????

ｂｂｏｘ的转换函数：
Box3DMode.convert

Coordinates in LiDAR:

    .. code-block:: none

                    up z
                       ^   x front
                       |  /
                       | /
        left y <------ 0

    The relative coordinate of bottom center in a LiDAR box is (0.5, 0.5, 0),
    and the yaw is around the z axis, thus the rotation axis=2.

    Coordinates in camera:

    .. code-block:: none

                z front
               /
              /
             0 ------> x right
             |
             |
             v
        down y

    The relative coordinate of bottom center in a CAM box is [0.5, 1.0, 0.5],
    and the yaw is around the y axis, thus the rotation axis=1.

    Coordinates in Depth mode:

    .. code-block:: none
    顺时针为正

        up z
           ^   y front
           |  /
           | /
           0 ------> x right

    The relative coordinate of bottom center in a DEPTH box is (0.5, 0.5, 0),
    and the yaw is around the z axis, thus the rotation axis=2.
    """

在mmdetection3d中，最后现实的坐标系都是在ｄｅｐｔｈ坐标系下，如果想输出和kitti数据集label相同坐标系的预测，可以在show_result中进行输出为.txt文件。
搞清楚