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batch_dict
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batch_dict:
{'points': tensor([[ 0.0000, 61.2360, 3.3050, 2.2830, 0.0000],
[ 0.0000, 59.0120, 3.5560, 2.2080, 0.1100],
[ 0.0000, 57.3640, 3.6370, 2.1530, 0.1000],
...,
[ 7.0000, 3.8020, -1.6060, -1.7190, 0.3600],
[ 7.0000, 3.8090, -1.5940, -1.7190, 0.3200],
[ 7.0000, 3.8230, -1.5860, -1.7230, 0.3700]], device='cuda:0'),
'mask': tensor([[0., 0., 0., ..., 0., 0., 0.],
[0., 1., 1., ..., 0., 0., 0.],
[1., 1., 1., ..., 0., 0., 0.],
...,
[1., 1., 0., ..., 0., 0., 0.],
[1., 1., 0., ..., 0., 0., 0.],
[1., 1., 0., ..., 0., 0., 0.]], device='cuda:0'),
'use_lead_xyz': tensor([1., 1., 1., 1., 1., 1., 1., 1.], device='cuda:0'),
'voxels': tensor([[[19.4260, 2.5390, 0.8720, 0.3700],
[ 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]],
[[18.8260, 2.7310, 0.8520, 0.3800],
[ 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]],
[[18.4570, 2.7960, 0.8400, 0.4900],
[ 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]],
...,
[[ 3.7830, -1.6470, -1.7180, 0.3500],
[ 3.7910, -1.6360, -1.7190, 0.3200],
[ 0.0000, 0.0000, 0.0000, 0.0000],
[ 0.0000, 0.0000, 0.0000, 0.0000],
[ 0.0000, 0.0000, 0.0000, 0.0000]],
[[ 3.8030, -1.6270, -1.7230, 0.3400],
[ 3.8030, -1.6130, -1.7200, 0.3700],
[ 3.8020, -1.6060, -1.7190, 0.3600],
[ 0.0000, 0.0000, 0.0000, 0.0000],
[ 0.0000, 0.0000, 0.0000, 0.0000]],
[[ 3.8090, -1.5940, -1.7190, 0.3200],
[ 3.8230, -1.5860, -1.7230, 0.3700],
[ 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., 38., 850., 388.],
[ 0., 38., 854., 376.],
[ 0., 38., 855., 369.],
...,
[ 7., 12., 767., 75.],
[ 7., 12., 767., 76.],
[ 7., 12., 768., 76.]], device='cuda:0'),
'voxel_num_points': tensor([1., 1., 1., ..., 2., 3., 2.], device='cuda:0'),
'batch_size': 8,
'voxel_features': tensor([[19.4260, 2.5390, 0.8720, 0.3700],
[18.8260, 2.7310, 0.8520, 0.3800],
[18.4570, 2.7960, 0.8400, 0.4900],
...,
[ 3.7870, -1.6415, -1.7185, 0.3350],
[ 3.8027, -1.6153, -1.7207, 0.3567],
[ 3.8160, -1.5900, -1.7210, 0.3450]], device='cuda:0'),
'encoded_spconv_tensor': SparseConvTensor[shape=torch.Size([14307, 128])],
'encoded_spconv_tensor_stride': 8,
'multi_scale_3d_features':
{'x_conv1': SparseConvTensor[shape=torch.Size([13352, 16])],
'x_conv2': SparseConvTensor[shape=torch.Size([27160, 32])],
'x_conv3': SparseConvTensor[shape=torch.Size([29363, 64])],
'x_conv4': SparseConvTensor[shape=torch.Size([21503, 64])]},
'multi_scale_3d_strides': {'x_conv1': 1, 'x_conv2': 2, 'x_conv3': 4, 'x_conv4': 8},
'spatial_features': tensor([[[[好多好多0]]]], device='cuda:0')
'spatial_features_stride': 8,
'spatial_features_2d': 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],
[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, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0447, 0.0605, 0.0417, ..., 0.1030, 0.1466, 0.1038],
[0.0549, 0.0815, 0.1015, ..., 0.1418, 0.1470, 0.1023],
...,
[0.0542, 0.0713, 0.0947, ..., 0.1018, 0.1308, 0.0932],
[0.0499, 0.0672, 0.0705, ..., 0.0535, 0.0916, 0.0785],
[0.0396, 0.0511, 0.0424, ..., 0.0401, 0.0527, 0.0466]],
[[0.0683, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0129],
[0.1197, 0.0487, 0.0209, ..., 0.0598, 0.1298, 0.1342],
[0.1390, 0.1031, 0.1139, ..., 0.2291, 0.2824, 0.2030],
...,
[0.1600, 0.1336, 0.1451, ..., 0.2394, 0.2815, 0.1926],
[0.1493, 0.1196, 0.1006, ..., 0.1724, 0.2000, 0.1404],
[0.1316, 0.0744, 0.0315, ..., 0.0799, 0.0935, 0.0436]],
...,
[[0.0000, 0.0751, 0.0000, ..., 0.0440, 0.0000, 0.1275],
[0.0584, 0.0689, 0.0454, ..., 0.0585, 0.1133, 0.1337],
[0.0000, 0.0286, 0.0000, ..., 0.0188, 0.0000, 0.1239],
...,
[0.0819, 0.1147, 0.0984, ..., 0.0000, 0.0882, 0.1573],
[0.0000, 0.1057, 0.0000, ..., 0.0438, 0.0000, 0.1230],
[0.0754, 0.0938, 0.0449, ..., 0.0000, 0.0474, 0.0896]],
[[0.0000, 0.0489, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0112, 0.0790, 0.0182, ..., 0.0000, 0.0000, 0.0000],
...,
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0000, 0.0225, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.1183, 0.3031, 0.2011, ..., 0.2718, 0.1161, 0.3246],
[0.1246, 0.1737, 0.1199, ..., 0.1391, 0.1515, 0.1433],
[0.1004, 0.2055, 0.0862, ..., 0.0484, 0.0075, 0.1766],
...,
[0.1298, 0.1868, 0.0836, ..., 0.1687, 0.1787, 0.2212],
[0.0046, 0.2235, 0.0000, ..., 0.2327, 0.0085, 0.2892],
[0.1085, 0.1057, 0.0979, ..., 0.1506, 0.1658, 0.1799]]],
[[[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, 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, 0.0000, 0.0000],
[0.0447, 0.0605, 0.0417, ..., 0.1030, 0.1466, 0.1038],
[0.0549, 0.0815, 0.1015, ..., 0.1418, 0.1470, 0.1023],
...,
[0.0542, 0.0713, 0.0947, ..., 0.1018, 0.1308, 0.0932],
[0.0499, 0.0672, 0.0705, ..., 0.0535, 0.0916, 0.0785],
[0.0396, 0.0511, 0.0424, ..., 0.0401, 0.0527, 0.0466]],
[[0.0683, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0129],
[0.1197, 0.0487, 0.0209, ..., 0.0598, 0.1298, 0.1342],
[0.1390, 0.1031, 0.1139, ..., 0.2291, 0.2824, 0.2030],
...,
[0.1600, 0.1336, 0.1451, ..., 0.2394, 0.2815, 0.1926],
[0.1493, 0.1196, 0.1006, ..., 0.1724, 0.2000, 0.1404],
[0.1316, 0.0744, 0.0315, ..., 0.0799, 0.0935, 0.0436]],
...,
[[0.0000, 0.0751, 0.0000, ..., 0.0440, 0.0000, 0.1275],
[0.0584, 0.0689, 0.0454, ..., 0.0585, 0.1133, 0.1337],
[0.0000, 0.0286, 0.0000, ..., 0.0188, 0.0000, 0.1239],
...,
[0.0819, 0.1147, 0.0984, ..., 0.0000, 0.0882, 0.1573],
[0.0000, 0.1057, 0.0000, ..., 0.0438, 0.0000, 0.1230],
[0.0754, 0.0938, 0.0449, ..., 0.0000, 0.0474, 0.0896]],
[[0.0000, 0.0489, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0112, 0.0790, 0.0182, ..., 0.0000, 0.0000, 0.0000],
...,
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0000, 0.0225, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.1183, 0.3031, 0.2011, ..., 0.2718, 0.1161, 0.3246],
[0.1246, 0.1737, 0.1199, ..., 0.1391, 0.1515, 0.1433],
[0.1004, 0.2055, 0.0862, ..., 0.0484, 0.0075, 0.1766],
...,
[0.1298, 0.1868, 0.0836, ..., 0.1687, 0.1787, 0.2212],
[0.0046, 0.2235, 0.0000, ..., 0.2327, 0.0085, 0.2892],
[0.1085, 0.1057, 0.0979, ..., 0.1506, 0.1658, 0.1799]]],
[[[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, 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, 0.0000, 0.0000],
[0.0447, 0.0605, 0.0417, ..., 0.1030, 0.1466, 0.1038],
[0.0549, 0.0815, 0.1015, ..., 0.1418, 0.1470, 0.1023],
...,
[0.0542, 0.0713, 0.0947, ..., 0.1018, 0.1308, 0.0932],
[0.0499, 0.0672, 0.0705, ..., 0.0535, 0.0916, 0.0785],
[0.0396, 0.0511, 0.0424, ..., 0.0401, 0.0527, 0.0466]],
[[0.0683, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0129],
[0.1197, 0.0487, 0.0209, ..., 0.0598, 0.1298, 0.1342],
[0.1390, 0.1031, 0.1139, ..., 0.2291, 0.2824, 0.2030],
...,
[0.1600, 0.1336, 0.1451, ..., 0.2394, 0.2815, 0.1926],
[0.1493, 0.1196, 0.1006, ..., 0.1724, 0.2000, 0.1404],
[0.1316, 0.0744, 0.0315, ..., 0.0799, 0.0935, 0.0436]],
...,
[[0.0000, 0.0751, 0.0000, ..., 0.0440, 0.0000, 0.1275],
[0.0584, 0.0689, 0.0454, ..., 0.0585, 0.1133, 0.1337],
[0.0000, 0.0286, 0.0000, ..., 0.0188, 0.0000, 0.1239],
...,
[0.0819, 0.1147, 0.0984, ..., 0.0000, 0.0882, 0.1573],
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[0.0754, 0.0938, 0.0449, ..., 0.0000, 0.0474, 0.0896]],
[[0.0000, 0.0489, 0.0000, ..., 0.0000, 0.0000, 0.0000],
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[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.1183, 0.3031, 0.2011, ..., 0.2718, 0.1161, 0.3246],
[0.1246, 0.1737, 0.1199, ..., 0.1391, 0.1515, 0.1433],
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...,
[0.1298, 0.1868, 0.0836, ..., 0.1687, 0.1787, 0.2212],
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[0.1085, 0.1057, 0.0979, ..., 0.1506, 0.1658, 0.1799]]],
...,
[[[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
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...,
[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
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[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0447, 0.0605, 0.0417, ..., 0.1030, 0.1466, 0.1038],
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...,
[0.0542, 0.0713, 0.0947, ..., 0.1018, 0.1308, 0.0932],
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[[0.0683, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0129],
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...,
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...,
[[0.0000, 0.0751, 0.0000, ..., 0.0440, 0.0000, 0.1275],
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...,
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[[0.0000, 0.0489, 0.0000, ..., 0.0000, 0.0000, 0.0000],
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[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.1183, 0.3031, 0.2011, ..., 0.2718, 0.1161, 0.3246],
[0.1246, 0.1737, 0.1199, ..., 0.1391, 0.1515, 0.1433],
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...,
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[0.0046, 0.2235, 0.0000, ..., 0.2327, 0.0085, 0.2892],
[0.1085, 0.1057, 0.0979, ..., 0.1506, 0.1658, 0.1799]]],
[[[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
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[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000]],
[[0.0000, 0.0000, 0.0000, ..., 0.0000, 0.0000, 0.0000],
[0.0447, 0.0605, 0.0417, ..., 0.1030, 0.1466, 0.1038],
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...,
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