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ida和bda矩阵的意义是什么？

ida是指在图像上做的数据增强得到的数据增强矩阵，只会影响图像内参 bda是指在BEV空间下对GT进行数据增强得到的数据增强矩阵，只会影响到相机到激光雷达的外参

文件：AeDet-main\mmdetection3d\mmdet3d\ops\aeconv\aeconv.py 中 def get_offset(self, size): # compute the rotation matrix of AeConv h, w = size out_h, out_w = h // self.stride[0], w // self.stride[1] 此处计算 out_h, out_w 和 https://pytorch.org/docs/stable/generated/torch.nn.Conv2d.html...

3D boxes of instances in LIDAR coordinates about NuScenes

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ida和bda矩阵的意义是什么？

ae_offset计算相关

ae_offset计算相关

3D boxes of instances in LIDAR coordinates about NuScenes