请问fastbev里在生成points时，那个img_meta["lidar2img"]["origin"]参数代表什么呢

[WYRTDCQ]

points = get_points( # [3, vx, vy, vz] n_voxels=torch.tensor(n_voxels), voxel_size=torch.tensor(voxel_size), origin=torch.tensor(img_meta["lidar2img"]["origin"]), ).to(mlvl_feats.device) def get_points(n_voxels, voxel_size, origin): points = torch.stack( torch.meshgrid( [ torch.arange(n_voxels[0]), torch.arange(n_voxels[1]), torch.arange(n_voxels[2]), ] ) ) new_origin = origin - n_voxels / 2.0 voxel_size points = points voxel_size.view(3, 1, 1, 1) + new_origin.view(3, 1, 1, 1) return points

[HenryZhangJianhe]

其实就是lidar坐标系下的原点坐标（0，0，-1）

point_cloud_range = np.array([-50, -50, -5, 50, 50, 3]) origin = (point_cloud_range[:3] + point_cloud_range[3:]) / 2.