{"id":35,"date":"2021-10-25T08:45:56","date_gmt":"2021-10-25T00:45:56","guid":{"rendered":"https:\/\/dcupqiu.club\/?p=35"},"modified":"2022-02-20T19:16:14","modified_gmt":"2022-02-20T11:16:14","slug":"2021-10-25","status":"publish","type":"post","link":"https:\/\/dcupqiu.club\/?p=35","title":{"rendered":"2021\/10\/25"},"content":{"rendered":"

LeetCode\u9898\u4e24\u9053<\/p>\n

<\/p>\n

class Solution {public:\n    struct Status {\n        int lSum, rSum, mSum, iSum;\n    };\n    Status pushUp(Status l, Status r) {\n        int iSum = l.iSum + r.iSum;\n        int lSum = max(l.lSum, l.iSum + r.lSum);\n        int rSum = max(r.rSum, r.iSum + l.rSum);\n        int mSum = max(max(l.mSum, r.mSum), l.rSum + r.lSum);\n        return (Status) {lSum, rSum, mSum, iSum};\n    };\n    Status get(vector<int> &a, int l, int r) {\n        if (l == r) {\n            return (Status) {a[l], a[l], a[l], a[l]};\n        }\n        int m = (l + r) >> 1;\n        Status lSub = get(a, l, m);\n        Status rSub = get(a, m + 1, r);\n        return pushUp(lSub, rSub);\n    }\n    int maxSubArray(vector<int>& nums) {\n        return get(nums, 0, nums.size() - 1).mSum;\n    }\n};\n<\/code><\/pre>\n
<\/p>\n
class Solution {\npublic:\n    vector<int> getTriggerTime(vector<vector<int>>& increase, vector<vector<int>>& requirements) {\n        \/\/ day x source\n        vector<pair<int, int>> c_req, r_req, h_req;\n        vector<int> is_ok(requirements.size(), 0);\n        vector<int> results(requirements.size(), -1);\n        int size = requirements.size();\n        for(int i = 0; i < requirements.size(); i++){\n            c_req.push_back({requirements[i][0], i});\n            r_req.push_back({requirements[i][1], i});\n            h_req.push_back({requirements[i][2], i});\n        }\n        sort(c_req.begin(), c_req.end(), [](pair<int, int>& x, pair<int, int>& y)->bool {return x.first < y.first;});\n        sort(r_req.begin(), r_req.end(), [](pair<int, int>& x, pair<int, int>& y)->bool {return x.first < y.first;});\n        sort(h_req.begin(), h_req.end(), [](pair<int, int>& x, pair<int, int>& y)->bool {return x.first < y.first;});\n        int c_ind = 0, r_ind = 0, h_ind = 0;\n        int c_now = 0, r_now = 0, h_now = 0;\n        increase.insert(begin(increase) ,{0, 0, 0});\n        for(int i = 0; i < increase.size(); i ++){\n            c_now += increase[i][0];\n            r_now += increase[i][1];\n            h_now += increase[i][2];\n            int t = min(size-1, c_ind);\n            while(c_now >= c_req[t].first && c_ind < size){\n                c_ind ++;\n                is_ok[c_req[t].second] ++;\n                if(is_ok[c_req[t].second] == 3){\n                    results[c_req[t].second] = i;\n                }\n                t = min(size-1, c_ind);\n            }\n            t = min(size-1, r_ind);\n            while(r_now >= r_req[t].first && r_ind < size){\n                r_ind ++;\n                is_ok[r_req[t].second] ++;\n                if(is_ok[r_req[t].second] == 3){\n                    results[r_req[t].second] = i;\n                }\n                t = min(size-1, r_ind);\n            }\n            t = min(size-1, h_ind);\n            while(h_now >= h_req[t].first && h_ind < size){\n                h_ind ++;\n                is_ok[h_req[t].second] ++;\n                if(is_ok[h_req[t].second] == 3){\n                    results[h_req[t].second] = i;\n                }\n                t = min(size-1, h_ind);\n            }\n        }\n        return results;\n    }\n};\n<\/code><\/pre>\n
<\/p>\n
\n
Det3D\u6846\u67b6\u89e3\u6790<\/h2>\n
\tdet3d\/datasets\/utils\/create_gt_database.py \u7528\u4e8e\u6570\u636e\u589e\u5f3a\uff0c\u751f\u6210\u5bf9\u5e94\u5e27\u4e2d\u90e8\u5206\u7269\u4f53\u7684\u70b9\u4e91\u7ed3\u679c<\/p>\n
DataLoader<\/h2>\n
\u6570\u636e\u5904\u7406\u6d41\u7a0b<\/h4>\n
<\/p>\n
\ngraph LR
\nA[LoadPointCloudFromFile] –>B[LoadPointCloudAnnotations]
\nB –> C[Preprocess]
\nC –>D[Voxelization]
\nD –>E[AssignLabel]
\nE –> F[Reformat]\n<\/div>\n
<\/p>\n
\u6570\u636e\u96c6\u603b\u8bfb\u53d6\u6587\u4ef6 det3d\/datasets\/nuscenes: class NuScenesDataset(PointCloudDataset)<\/p>\n
Preprocess<\/h4>\n
\u6587\u4ef6\u76ee\u5f55\uff1adet3d\/datasets\/pipeline\/preprocess.py<\/p>\n
config\u4e2d\uff0ctrain_preprocessor\u7ed9\u51fa\u4e86preprocess\u7684\u53c2\u6570\u3002<\/p>\n
\u53c2\u6570\u89e3\u6790\uff1a<\/p>\n
shuffle_points: \u91cd\u65b0\u6253\u4e71\u70b9\u4e91\u7684\u987a\u5e8f<\/p>\n
random_flip_both: \u65e0\u53c2\u6570\u64cd\u4f5c\uff0c\u968f\u673a\u5bf9x\uff0cy\u8f74\u8fdb\u884c\u7ffb\u8f6c\uff0c\u6982\u73870\u30025<\/p>\n
global_rotation: \u4ee5\u5747\u5300\u5206\u5e03\u91c7\u6837\u7684\u5f62\u5f0f\uff0c\u5bf9\u7ed9\u51fa\u7684\u65cb\u8f6c\u533a\u95f4\u5185\u7684\u70b9\u8fdb\u884c\u4e00\u4e2a\u968f\u673a\u7684\u65cb\u8f6c<\/p>\n
global_scaling_v2: \u4ee5\u5747\u5300\u5206\u5e03\u91c7\u6837\u7684\u5f62\u5f0f\uff0c\u5bf9\u5750\u6807\uff0c\u957f\u5bbd\u9ad8\u7b49\u8fdb\u884c\u7ebf\u6027\u653e\u7f29<\/p>\n
global_translate: \u4ee5\u6b63\u6001\u5206\u5e03\u7684\u5f62\u5f0f\u8fdb\u884c\u91c7\u6837\uff0c\u5bf9translation\u8fdb\u884c\u4e00\u4e2a\u4f4d\u79fb\u7684\u6dfb\u52a0<\/p>\n
Voxelization<\/h4>\n
\u914d\u7f6e\u6587\u4ef6\u5bf9\u5e94config\u4e2d\u7684voxel_generator<\/p>\n
voxelnet\u4e2d\uff1a<\/p>\n
<\/p>\n
voxel_generator = dict(
\nrange=[-54, -54, -5.0, 54, 54, 3.0],
\nvoxel_size=[0.075, 0.075, 0.2],
\nmax_points_in_voxel=10,
\nmax_voxel_num=[120000, 160000],
\n)<\/p>\n
<\/p>\n
\u8fd4\u56de\u7c7b\u578b\uff1a<\/p>\n
<\/p>\n
res["lidar"]["voxels"] = dict(
\nvoxels=voxels,
\ncoordinates=coordinates,
\nnum_points=num_points,
\nnum_voxels=num_voxels,
\nshape=grid_size,
\nrange=pc_range,
\nsize=voxel_size
\n)<\/p>\n
<\/p>\n
Voxelization\u7684\u8fc7\u7a0b\u9075\u5faa\u5148\u5230\u5148\u5f97\uff0c\u56e0\u6b64\u5728preprocess\u4e2d\u9700\u8981\u8fdb\u884cshuffle<\/p>\n
AssignLable<\/h4>\n
\u8be5\u51fd\u6570\u7528\u4e8e\u8fd4\u56deCenterNet\u8bad\u7ec3\u6240\u9700\u8981\u7684labels\uff0c\u4f8b\u5982heatmap\uff0cheight\u548coffset<\/p>\n
\u6bd4\u8f83\u91cd\u8981\uff0c\u53ef\u4ee5\u7528\u6765\u79fb\u690d\uff1f<\/p>\n
<\/p>\n
assigner = dict(
\ntarget_assigner=target_assigner,
\nout_size_factor=get_downsample_factor(model),
\ndense_reg=1,
\ngaussian_overlap=0.1,
\nmax_objs=500,
\nmin_radius=2,
\n)<\/p>\n
target_assigner = dict(
\ntasks=tasks,
\n)<\/p>\n
tasks = [
\ndict(num_class=1, class_names=["car"]),
\ndict(num_class=2, class_names=["truck", "construction_vehicle"]),
\ndict(num_class=2, class_names=["bus", "trailer"]),
\ndict(num_class=1, class_names=["barrier"]),
\ndict(num_class=2, class_names=["motorcycle", "bicycle"]),
\ndict(num_class=2, class_names=["pedestrian", "traffic_cone"]),
\n]<\/p>\n
<\/p>\n
    \n
  • out_size_factor: \u51b3\u5b9a\u4e86\u751f\u6210\u7684\u56fe\u7684\u5927\u5c0f<\/li>\n
  • tasks: \u591a\u4e2a\u4efb\u52a1\u7684\u7c7b\u522b\u6807\u7b7e<\/li>\n
  • gaussian_overlap: hm\u7684\u8f93\u51fa\u7684\u8986\u76d6\u534a\u5f84\uff1f\u9700\u8981\u540e\u9762\u7ec6\u770b<\/li>\n
  • _max_objs: \u6700\u5927\u573a\u666f\u4e0b\u7684\u5bf9\u8c61\u4e2a\u6570\uff1f\u4e3a\u5565\u8981\u8bbe\u8fd9\u73a9\u610f<\/li>\n
  • _min_radius: \u6700\u5c0f\u534a\u5f84\uff1f\u662f\u8bf4lidar\u7684\u76f2\u533a\u534a\u5f84\u7684\u610f\u601d\uff1f<\/li>\n<\/ul>\n
    draw_umich_gaussian\u51fd\u6570\u5f88\u91cd\u8981\uff0c\u53ef\u4ee5\u62ff\u6765\u6284<\/p>\n
    gaussian<\/p>\n
    \u751f\u6210\u7684label\u5305\u62ec\uff1ahm\uff1banno_boxs\uff1binds\uff1bmasks\uff1bcats\uff1b<\/p>\n
    det3d\/core\/utils\/center_utils.py: gaussian_radius \u6ca1\u770b\u61c2\uff1f\uff1f\uff1fwhy\uff1f\uff1f\uff1f<\/p>\n
    \u662f\u4eceCornerNet\u91cccopy\u7684\u4ee3\u7801\uff1f\uff1f\uff1f\u6211\u611f\u89c9\u8fd9\u4e2a\u534a\u5f84\u6709\u70b9\u5947\u602a\u3002<\/p>\n
    \u6682\u65f6\u5ffd\u7565\uff0c\u7b49\u770b\u5b8closs\u548c\u90a3\u5565\u518d\u505a\u51b3\u5b9a<\/p>\n
    Reformat<\/h4>\n
    \u5199\u4e2a\u5b57\u5178\u628a\u9700\u8981\u7684\u6570\u636e\u6253\u4e2a\u5305\u800c\u5df2<\/p>\n
    Dataloader<\/h4>\n
    det3d\/torchie\/parallel\/collate.py \u7684collate_kitti\u5b8c\u6210\u4e86\u5bf9\u5b57\u5178\u6570\u636e\u7684collect\uff0c\u5177\u4f53\u6ca1\u770b\uff0c\u4e4b\u540e\u518d\u8bf4<\/p>\n","protected":false},"excerpt":{"rendered":"
    LeetCode\u9898\u4e24\u9053 class Solutio…<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[5],"class_list":["post-35","post","type-post","status-publish","format-standard","hentry","category-diary","tag-leetcode"],"yoast_head":"\n2021\/10\/25 - \u79cb\u5586\u306eSite<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/dcupqiu.club\/?p=35\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"2021\/10\/25 - \u79cb\u5586\u306eSite\" \/>\n<meta property=\"og:description\" content=\"LeetCode\u9898\u4e24\u9053 class Solutio...\" \/>\n<meta property=\"og:url\" content=\"https:\/\/dcupqiu.club\/?p=35\" \/>\n<meta property=\"og:site_name\" content=\"\u79cb\u5586\u306eSite\" \/>\n<meta property=\"article:published_time\" content=\"2021-10-25T00:45:56+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2022-02-20T11:16:14+00:00\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"\u79cb\u5586\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"4 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebSite\",\"@id\":\"https:\/\/dcupqiu.club\/#website\",\"url\":\"https:\/\/dcupqiu.club\/\",\"name\":\"\u79cb\u5586\u306eSite\",\"description\":\"WwwwwW\",\"publisher\":{\"@id\":\"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/dcupqiu.club\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/dcupqiu.club\/?p=35#webpage\",\"url\":\"https:\/\/dcupqiu.club\/?p=35\",\"name\":\"2021\/10\/25 - \u79cb\u5586\u306eSite\",\"isPartOf\":{\"@id\":\"https:\/\/dcupqiu.club\/#website\"},\"datePublished\":\"2021-10-25T00:45:56+00:00\",\"dateModified\":\"2022-02-20T11:16:14+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/dcupqiu.club\/?p=35#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/dcupqiu.club\/?p=35\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/dcupqiu.club\/?p=35#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/dcupqiu.club\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"2021\/10\/25\"}]},{\"@type\":\"Article\",\"@id\":\"https:\/\/dcupqiu.club\/?p=35#article\",\"isPartOf\":{\"@id\":\"https:\/\/dcupqiu.club\/?p=35#webpage\"},\"author\":{\"@id\":\"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20\"},\"headline\":\"2021\/10\/25\",\"datePublished\":\"2021-10-25T00:45:56+00:00\",\"dateModified\":\"2022-02-20T11:16:14+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/dcupqiu.club\/?p=35#webpage\"},\"wordCount\":259,\"publisher\":{\"@id\":\"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20\"},\"keywords\":[\"Leetcode\"],\"articleSection\":[\"\u6b63\u7ecf\u4eba\u8c01\u5199\u65e5\u8bb0\u554a.jpg\"],\"inLanguage\":\"zh-Hans\"},{\"@type\":[\"Person\",\"Organization\"],\"@id\":\"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20\",\"name\":\"\u79cb\u5586\",\"image\":{\"@type\":\"ImageObject\",\"@id\":\"https:\/\/dcupqiu.club\/#personlogo\",\"inLanguage\":\"zh-Hans\",\"url\":\"https:\/\/dcupqiu.club\/wp-content\/uploads\/\/2022\/04\/ww.png\",\"contentUrl\":\"https:\/\/dcupqiu.club\/wp-content\/uploads\/\/2022\/04\/ww.png\",\"width\":920,\"height\":700,\"caption\":\"\u79cb\u5586\"},\"logo\":{\"@id\":\"https:\/\/dcupqiu.club\/#personlogo\"},\"sameAs\":[\"http:\/\/dcupqiu.club\"],\"url\":\"https:\/\/dcupqiu.club\/?author=1\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"2021\/10\/25 - \u79cb\u5586\u306eSite","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/dcupqiu.club\/?p=35","og_locale":"zh_CN","og_type":"article","og_title":"2021\/10\/25 - \u79cb\u5586\u306eSite","og_description":"LeetCode\u9898\u4e24\u9053 class Solutio...","og_url":"https:\/\/dcupqiu.club\/?p=35","og_site_name":"\u79cb\u5586\u306eSite","article_published_time":"2021-10-25T00:45:56+00:00","article_modified_time":"2022-02-20T11:16:14+00:00","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"\u79cb\u5586","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"4 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebSite","@id":"https:\/\/dcupqiu.club\/#website","url":"https:\/\/dcupqiu.club\/","name":"\u79cb\u5586\u306eSite","description":"WwwwwW","publisher":{"@id":"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/dcupqiu.club\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"WebPage","@id":"https:\/\/dcupqiu.club\/?p=35#webpage","url":"https:\/\/dcupqiu.club\/?p=35","name":"2021\/10\/25 - \u79cb\u5586\u306eSite","isPartOf":{"@id":"https:\/\/dcupqiu.club\/#website"},"datePublished":"2021-10-25T00:45:56+00:00","dateModified":"2022-02-20T11:16:14+00:00","breadcrumb":{"@id":"https:\/\/dcupqiu.club\/?p=35#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/dcupqiu.club\/?p=35"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/dcupqiu.club\/?p=35#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/dcupqiu.club\/"},{"@type":"ListItem","position":2,"name":"2021\/10\/25"}]},{"@type":"Article","@id":"https:\/\/dcupqiu.club\/?p=35#article","isPartOf":{"@id":"https:\/\/dcupqiu.club\/?p=35#webpage"},"author":{"@id":"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20"},"headline":"2021\/10\/25","datePublished":"2021-10-25T00:45:56+00:00","dateModified":"2022-02-20T11:16:14+00:00","mainEntityOfPage":{"@id":"https:\/\/dcupqiu.club\/?p=35#webpage"},"wordCount":259,"publisher":{"@id":"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20"},"keywords":["Leetcode"],"articleSection":["\u6b63\u7ecf\u4eba\u8c01\u5199\u65e5\u8bb0\u554a.jpg"],"inLanguage":"zh-Hans"},{"@type":["Person","Organization"],"@id":"https:\/\/dcupqiu.club\/#\/schema\/person\/33f847360b49873a92e0a1461d4d6a20","name":"\u79cb\u5586","image":{"@type":"ImageObject","@id":"https:\/\/dcupqiu.club\/#personlogo","inLanguage":"zh-Hans","url":"https:\/\/dcupqiu.club\/wp-content\/uploads\/\/2022\/04\/ww.png","contentUrl":"https:\/\/dcupqiu.club\/wp-content\/uploads\/\/2022\/04\/ww.png","width":920,"height":700,"caption":"\u79cb\u5586"},"logo":{"@id":"https:\/\/dcupqiu.club\/#personlogo"},"sameAs":["http:\/\/dcupqiu.club"],"url":"https:\/\/dcupqiu.club\/?author=1"}]}},"_links":{"self":[{"href":"https:\/\/dcupqiu.club\/index.php?rest_route=\/wp\/v2\/posts\/35","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dcupqiu.club\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dcupqiu.club\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dcupqiu.club\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/dcupqiu.club\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=35"}],"version-history":[{"count":1,"href":"https:\/\/dcupqiu.club\/index.php?rest_route=\/wp\/v2\/posts\/35\/revisions"}],"predecessor-version":[{"id":64,"href":"https:\/\/dcupqiu.club\/index.php?rest_route=\/wp\/v2\/posts\/35\/revisions\/64"}],"wp:attachment":[{"href":"https:\/\/dcupqiu.club\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=35"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dcupqiu.club\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=35"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dcupqiu.club\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=35"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}