Arnold Chen
Arnold Chen
P.S., I can provide you the model onnx for reproducing this issue to help the progress of resolving it
> if your train framework is Pytorch, please use PNNX to convert your model to ncnn Thank you, but it looks like pnnx is not formally included in the tools...
I mean the pnnx tool under ncnn/tools, after having built ncnn, pnnx is not found under tools, and checked the CMakeLists.txt under tools, pnnx directory is not included.
试试 onnx.export()里增加这个参数指定: enable_onnx_checker=False
My understanding: Because data_info['lidar2img'] is lidar2img_rt, which is actually intrinsic@lidar2cam_rt.T in NuScenesDataset's get_data_info(): viewpad = np.eye(4) viewpad[:intrinsic.shape[0], :intrinsic.shape[1]] = intrinsic lidar2img_rt = (viewpad @ lidar2cam_rt.T) I guess the code owner...
+1, please upload the missing files under script/view_tranform_cuda/input