So this table indicates the magnitudes of augument gt boxes
sample_groups=[ dict(car=2),
dict(truck=3),
dict(construction_vehicle=7),
dict(bus=4),
dict(trailer=6),
dict(barrier=2),
dict(motorcycle=6),
dict(bicycle=6),
dict(pedestrian=2),
dict(traffic_cone=2),
]
实现在 det3d/core/sampler/sample_ops.py: DataBaseSamplerV2
实话实说我没看懂，global_random_rotation_range_per_object是啥？干啥用的？？？函数入口sample_all
fine, group的value是_sample_max_nums
nuscenes-devkit/python-sdk/nuscenes/nuscenes.py:NuScenesExplorer->map_pointcloud_to_image说明了怎么转换点云到图像坐标系