def create_frustum(self):
# make grid in image plane
ogfH, ogfW = self.data_aug_conf['final_dim'] #ogfH:128 ogfW:352
fH, fW = ogfH // self.downsample, ogfW // self.downsample #downsample16 fH:8 fW:22
#shape tmp(41) 4,5,6,...,44 #grid_conf['dbound'] [4,45,1]
tmp = torch.arange(*self.grid_conf['dbound'], dtype=torch.float)
#ds [41, 8, 22]
ds = torch.arange(*self.grid_conf['dbound'], dtype=torch.float).view(-1, 1, 1).expand(-1, fH, fW)
D, _, _ = ds.shape #D=41
#tmp_xs[22] ogfW:352 fW:22 fH:8 fW:22 (351/21=16.7143)
tmp_xs = torch.linspace(0, ogfW - 1, fW, dtype=torch.float)
#tmp_ys[8] ogfH:128 fH:8 (127/7=18.1429)
tmp_ys = torch.linspace(0, ogfH - 1, fH, dtype=torch.float)
# xs, ys [41, 8, 22]
xs = torch.linspace(0, ogfW - 1, fW, dtype=torch.float).view(1, 1, fW).expand(D, fH, fW)
ys = torch.linspace(0, ogfH - 1, fH, dtype=torch.float).view(1, fH, 1).expand(D, fH, fW)
# D x H x W x 3 [41, 8, 22, 3]
frustum = torch.stack((xs, ys, ds), -1)
return nn.Parameter(frustum, requires_grad=False)
test_create_frustum.py
import torch
downsample = 3
ogfH = 21
ogfW = 36
#fH=7 fW=12
fH, fW = ogfH // downsample, ogfW // downsample
#ds[2,7,12] ds[9,7,12] #*[5, 50, 5]
ds = torch.arange(*[5, 15, 5], dtype=torch.float).view(-1, 1, 1).expand(-1, fH, fW)
#D=2
D, _, _ = ds.shape
#tmp_xs[12] ogfW:36 fW:12 fH:7 (35/11=3.1818)
tmp_xs = torch.linspace(0, ogfW - 1, fW, dtype=torch.float)
#tmp_ys[7] ogfH:21 fH:7 (20/6=3.333)
tmp_ys = torch.linspace(0, ogfH - 1, fH, dtype=torch.float)
# xs, ys [2, 7, 12]
xs = torch.linspace(0, ogfW - 1, fW, dtype=torch.float).view(1, 1, fW).expand(D, fH, fW)
ys = torch.linspace(0, ogfH - 1, fH, dtype=torch.float).view(1, fH, 1).expand(D, fH, fW)
# D x H x W x 3 [2, 7, 12, 3]
frustum = torch.stack((xs, ys, ds), -1)
print("==============>>>>>>>>>>>>>>>xs")
print(xs)
print("==============>>>>>>>>>>>>>>>ys")
print(ys)
print("==============>>>>>>>>>>>>>>>ds")
print(ds)
print("==============>>>>>>>>>>>>>>>frustum")
print(frustum)
/media/algo/data_1/software/anconda_install/envs/pytorch1.7.0_general/bin/python3 /media/algo/data_1/everyday/20230602/test_create_frustum.py
==============>>>>>>>>>>>>>>>xs
tensor([[[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000]],
[[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000],
[ 0.0000, 3.1818, 6.3636, 9.5455, 12.7273, 15.9091, 19.0909,
22.2727, 25.4545, 28.6364, 31.8182, 35.0000]]])
==============>>>>>>>>>>>>>>>ys
tensor([[[ 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000],
[ 3.3333, 3.3333, 3.3333, 3.3333, 3.3333, 3.3333, 3.3333,
3.3333, 3.3333, 3.3333, 3.3333, 3.3333],
[ 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667,
6.6667, 6.6667, 6.6667, 6.6667, 6.6667],
[10.0000, 10.0000, 10.0000, 10.0000, 10.0000, 10.0000, 10.0000,
10.0000, 10.0000, 10.0000, 10.0000, 10.0000],
[13.3333, 13.3333, 13.3333, 13.3333, 13.3333, 13.3333, 13.3333,
13.3333, 13.3333, 13.3333, 13.3333, 13.3333],
[16.6667, 16.6667, 16.6667, 16.6667, 16.6667, 16.6667, 16.6667,
16.6667, 16.6667, 16.6667, 16.6667, 16.6667],
[20.0000, 20.0000, 20.0000, 20.0000, 20.0000, 20.0000, 20.0000,
20.0000, 20.0000, 20.0000, 20.0000, 20.0000]],
[[ 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000],
[ 3.3333, 3.3333, 3.3333, 3.3333, 3.3333, 3.3333, 3.3333,
3.3333, 3.3333, 3.3333, 3.3333, 3.3333],
[ 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667, 6.6667,
6.6667, 6.6667, 6.6667, 6.6667, 6.6667],
[10.0000, 10.0000, 10.0000, 10.0000, 10.0000, 10.0000, 10.0000,
10.0000, 10.0000, 10.0000, 10.0000, 10.0000],
[13.3333, 13.3333, 13.3333, 13.3333, 13.3333, 13.3333, 13.3333,
13.3333, 13.3333, 13.3333, 13.3333, 13.3333],
[16.6667, 16.6667, 16.6667, 16.6667, 16.6667, 16.6667, 16.6667,
16.6667, 16.6667, 16.6667, 16.6667, 16.6667],
[20.0000, 20.0000, 20.0000, 20.0000, 20.0000, 20.0000, 20.0000,
20.0000, 20.0000, 20.0000, 20.0000, 20.0000]]])
==============>>>>>>>>>>>>>>>ds
tensor([[[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.],
[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.],
[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.],
[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.],
[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.],
[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.],
[ 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5., 5.]],
[[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.],
[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.],
[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.],
[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.],
[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.],
[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.],
[10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10., 10.]]])
==============>>>>>>>>>>>>>>>frustum
tensor([[[[ 0.0000, 0.0000, 5.0000],
[ 3.1818, 0.0000, 5.0000],
[ 6.3636, 0.0000, 5.0000],
[ 9.5455, 0.0000, 5.0000],
[12.7273, 0.0000, 5.0000],
[15.9091, 0.0000, 5.0000],
[19.0909, 0.0000, 5.0000],
[22.2727, 0.0000, 5.0000],
[25.4545, 0.0000, 5.0000],
[28.6364, 0.0000, 5.0000],
[31.8182, 0.0000, 5.0000],
[35.0000, 0.0000, 5.0000]],
[[ 0.0000, 3.3333, 5.0000],
[ 3.1818, 3.3333, 5.0000],
[ 6.3636, 3.3333, 5.0000],
[ 9.5455, 3.3333, 5.0000],
[12.7273, 3.3333, 5.0000],
[15.9091, 3.3333, 5.0000],
[19.0909, 3.3333, 5.0000],
[22.2727, 3.3333, 5.0000],
[25.4545, 3.3333, 5.0000],
[28.6364, 3.3333, 5.0000],
[31.8182, 3.3333, 5.0000],
[35.0000, 3.3333, 5.0000]],
[[ 0.0000, 6.6667, 5.0000],
[ 3.1818, 6.6667, 5.0000],
[ 6.3636, 6.6667, 5.0000],
[ 9.5455, 6.6667, 5.0000],
[12.7273, 6.6667, 5.0000],
[15.9091, 6.6667, 5.0000],
[19.0909, 6.6667, 5.0000],
[22.2727, 6.6667, 5.0000],
[25.4545, 6.6667, 5.0000],
[28.6364, 6.6667, 5.0000],
[31.8182, 6.6667, 5.0000],
[35.0000, 6.6667, 5.0000]],
[[ 0.0000, 10.0000, 5.0000],
[ 3.1818, 10.0000, 5.0000],
[ 6.3636, 10.0000, 5.0000],
[ 9.5455, 10.0000, 5.0000],
[12.7273, 10.0000, 5.0000],
[15.9091, 10.0000, 5.0000],
[19.0909, 10.0000, 5.0000],
[22.2727, 10.0000, 5.0000],
[25.4545, 10.0000, 5.0000],
[28.6364, 10.0000, 5.0000],
[31.8182, 10.0000, 5.0000],
[35.0000, 10.0000, 5.0000]],
[[ 0.0000, 13.3333, 5.0000],
[ 3.1818, 13.3333, 5.0000],
[ 6.3636, 13.3333, 5.0000],
[ 9.5455, 13.3333, 5.0000],
[12.7273, 13.3333, 5.0000],
[15.9091, 13.3333, 5.0000],
[19.0909, 13.3333, 5.0000],
[22.2727, 13.3333, 5.0000],
[25.4545, 13.3333, 5.0000],
[28.6364, 13.3333, 5.0000],
[31.8182, 13.3333, 5.0000],
[35.0000, 13.3333, 5.0000]],
[[ 0.0000, 16.6667, 5.0000],
[ 3.1818, 16.6667, 5.0000],
[ 6.3636, 16.6667, 5.0000],
[ 9.5455, 16.6667, 5.0000],
[12.7273, 16.6667, 5.0000],
[15.9091, 16.6667, 5.0000],
[19.0909, 16.6667, 5.0000],
[22.2727, 16.6667, 5.0000],
[25.4545, 16.6667, 5.0000],
[28.6364, 16.6667, 5.0000],
[31.8182, 16.6667, 5.0000],
[35.0000, 16.6667, 5.0000]],
[[ 0.0000, 20.0000, 5.0000],
[ 3.1818, 20.0000, 5.0000],
[ 6.3636, 20.0000, 5.0000],
[ 9.5455, 20.0000, 5.0000],
[12.7273, 20.0000, 5.0000],
[15.9091, 20.0000, 5.0000],
[19.0909, 20.0000, 5.0000],
[22.2727, 20.0000, 5.0000],
[25.4545, 20.0000, 5.0000],
[28.6364, 20.0000, 5.0000],
[31.8182, 20.0000, 5.0000],
[35.0000, 20.0000, 5.0000]]],
[[[ 0.0000, 0.0000, 10.0000],
[ 3.1818, 0.0000, 10.0000],
[ 6.3636, 0.0000, 10.0000],
[ 9.5455, 0.0000, 10.0000],
[12.7273, 0.0000, 10.0000],
[15.9091, 0.0000, 10.0000],
[19.0909, 0.0000, 10.0000],
[22.2727, 0.0000, 10.0000],
[25.4545, 0.0000, 10.0000],
[28.6364, 0.0000, 10.0000],
[31.8182, 0.0000, 10.0000],
[35.0000, 0.0000, 10.0000]],
[[ 0.0000, 3.3333, 10.0000],
[ 3.1818, 3.3333, 10.0000],
[ 6.3636, 3.3333, 10.0000],
[ 9.5455, 3.3333, 10.0000],
[12.7273, 3.3333, 10.0000],
[15.9091, 3.3333, 10.0000],
[19.0909, 3.3333, 10.0000],
[22.2727, 3.3333, 10.0000],
[25.4545, 3.3333, 10.0000],
[28.6364, 3.3333, 10.0000],
[31.8182, 3.3333, 10.0000],
[35.0000, 3.3333, 10.0000]],
[[ 0.0000, 6.6667, 10.0000],
[ 3.1818, 6.6667, 10.0000],
[ 6.3636, 6.6667, 10.0000],
[ 9.5455, 6.6667, 10.0000],
[12.7273, 6.6667, 10.0000],
[15.9091, 6.6667, 10.0000],
[19.0909, 6.6667, 10.0000],
[22.2727, 6.6667, 10.0000],
[25.4545, 6.6667, 10.0000],
[28.6364, 6.6667, 10.0000],
[31.8182, 6.6667, 10.0000],
[35.0000, 6.6667, 10.0000]],
[[ 0.0000, 10.0000, 10.0000],
[ 3.1818, 10.0000, 10.0000],
[ 6.3636, 10.0000, 10.0000],
[ 9.5455, 10.0000, 10.0000],
[12.7273, 10.0000, 10.0000],
[15.9091, 10.0000, 10.0000],
[19.0909, 10.0000, 10.0000],
[22.2727, 10.0000, 10.0000],
[25.4545, 10.0000, 10.0000],
[28.6364, 10.0000, 10.0000],
[31.8182, 10.0000, 10.0000],
[35.0000, 10.0000, 10.0000]],
[[ 0.0000, 13.3333, 10.0000],
[ 3.1818, 13.3333, 10.0000],
[ 6.3636, 13.3333, 10.0000],
[ 9.5455, 13.3333, 10.0000],
[12.7273, 13.3333, 10.0000],
[15.9091, 13.3333, 10.0000],
[19.0909, 13.3333, 10.0000],
[22.2727, 13.3333, 10.0000],
[25.4545, 13.3333, 10.0000],
[28.6364, 13.3333, 10.0000],
[31.8182, 13.3333, 10.0000],
[35.0000, 13.3333, 10.0000]],
[[ 0.0000, 16.6667, 10.0000],
[ 3.1818, 16.6667, 10.0000],
[ 6.3636, 16.6667, 10.0000],
[ 9.5455, 16.6667, 10.0000],
[12.7273, 16.6667, 10.0000],
[15.9091, 16.6667, 10.0000],
[19.0909, 16.6667, 10.0000],
[22.2727, 16.6667, 10.0000],
[25.4545, 16.6667, 10.0000],
[28.6364, 16.6667, 10.0000],
[31.8182, 16.6667, 10.0000],
[35.0000, 16.6667, 10.0000]],
[[ 0.0000, 20.0000, 10.0000],
[ 3.1818, 20.0000, 10.0000],
[ 6.3636, 20.0000, 10.0000],
[ 9.5455, 20.0000, 10.0000],
[12.7273, 20.0000, 10.0000],
[15.9091, 20.0000, 10.0000],
[19.0909, 20.0000, 10.0000],
[22.2727, 20.0000, 10.0000],
[25.4545, 20.0000, 10.0000],
[28.6364, 20.0000, 10.0000],
[31.8182, 20.0000, 10.0000],
[35.0000, 20.0000, 10.0000]]]])
Process finished with exit code 0