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process[bevfusion_node-1]: started with pid [166321]
process[rviz_bevfusion_node-2]: started with pid [166322]
--model_name: swint
--precision : fp16
Create by swint, fp16
[ INFO] [1715603756.706286351]: rviz version 1.14.23
[ INFO] [1715603756.706330872]: compiled against Qt version 5.12.8
[ INFO] [1715603756.706343946]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1715603756.711519779]: Forcing OpenGl version 0.
[ INFO] [1715603756.952917842]: Stereo is NOT SUPPORTED
[ INFO] [1715603756.952958674]: OpenGL device: NVIDIA GeForce RTX 4080 SUPER/PCIe/SSE2
[ INFO] [1715603756.952969214]: OpenGl version: 4.6 (GLSL 4.6).
Camerea Backbone 🌱 is Static Shape model
Inputs: 2
0.img : {1 x 6 x 3 x 256 x 704} [Float16]
1.depth : {1 x 6 x 1 x 256 x 704} [Float16]
Outputs: 2
0.camera_depth_weights : {6 x 118 x 32 x 88} [Float16]
1.camera_feature : {6 x 32 x 88 x 80} [Float16]
Camerea VTransform 🌱 is Static Shape model
Inputs: 1
0.feat_in : {1 x 80 x 360 x 360} [Float16]
Outputs: 1
0.feat_out : {1 x 80 x 180 x 180} [Float16]
Transfusion 🌱 is Static Shape model
Inputs: 2
0.camera : {1 x 80 x 180 x 180} [Float16]
1.lidar : {1 x 256 x 180 x 180} [Float16]
Outputs: 1
0.middle : {1 x 512 x 180 x 180} [Float16]
BBox 🌱 is Static Shape model
Inputs: 1
0.middle : {1 x 512 x 180 x 180} [Float16]
Outputs: 6
0.reg : {1 x 2 x 200} [Float16]
1.height : {1 x 1 x 200} [Float16]
2.dim : {1 x 3 x 200} [Float16]
3.rot : {1 x 2 x 200} [Float16]
4.vel : {1 x 2 x 200} [Float16]
5.score : {1 x 10 x 200} [Float16]
linClubs
commented
3 months ago
照着流程来，为什么没有输出结果，最后打开的rviz显示年no image
started roslaunch server http://cao-System-Product-Name:32873/
SUMMARY
PARAMETERS
NODES / bevfusion_node (bevfusion/bevfusion_node) rviz_bevfusion_node (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[bevfusion_node-1]: started with pid [166321] process[rviz_bevfusion_node-2]: started with pid [166322] --model_name: swint --precision : fp16 Create by swint, fp16 [ INFO] [1715603756.706286351]: rviz version 1.14.23 [ INFO] [1715603756.706330872]: compiled against Qt version 5.12.8 [ INFO] [1715603756.706343946]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1715603756.711519779]: Forcing OpenGl version 0. [ INFO] [1715603756.952917842]: Stereo is NOT SUPPORTED [ INFO] [1715603756.952958674]: OpenGL device: NVIDIA GeForce RTX 4080 SUPER/PCIe/SSE2 [ INFO] [1715603756.952969214]: OpenGl version: 4.6 (GLSL 4.6).
Camerea Backbone 🌱 is Static Shape model Inputs: 2 0.img : {1 x 6 x 3 x 256 x 704} [Float16] 1.depth : {1 x 6 x 1 x 256 x 704} [Float16] Outputs: 2 0.camera_depth_weights : {6 x 118 x 32 x 88} [Float16] 1.camera_feature : {6 x 32 x 88 x 80} [Float16]
Camerea VTransform 🌱 is Static Shape model Inputs: 1 0.feat_in : {1 x 80 x 360 x 360} [Float16] Outputs: 1 0.feat_out : {1 x 80 x 180 x 180} [Float16]
Transfusion 🌱 is Static Shape model Inputs: 2 0.camera : {1 x 80 x 180 x 180} [Float16] 1.lidar : {1 x 256 x 180 x 180} [Float16] Outputs: 1 0.middle : {1 x 512 x 180 x 180} [Float16]
BBox 🌱 is Static Shape model Inputs: 1 0.middle : {1 x 512 x 180 x 180} [Float16] Outputs: 6 0.reg : {1 x 2 x 200} [Float16] 1.height : {1 x 1 x 200} [Float16] 2.dim : {1 x 3 x 200} [Float16] 3.rot : {1 x 2 x 200} [Float16] 4.vel : {1 x 2 x 200} [Float16] 5.score : {1 x 10 x 200} [Float16]