Loads a camera model from disk. Args: models_dir (str): directory containing camera model files. cam_name (str): came

Loads a camera model from disk. Args: models_dir (str): directory containing camera model files. images_dir (str): di

Args: gamma: Weighting parameter to balance loss for hard and easy examples. alpha: Weighting parameter to balance lo

Args: beta: Scalar float. L1 to L2 change point. For beta values < 1e-5, L1 loss is computed.

Note that out_channels = dv.

Args: in_chn: the input channal number out_chn: the desired output channal number

Args: in_chn: the input channal number out_chn: the desired output channal number

Initializes convolutional block Args: in_channels: int, Number of input channels out_channels: int, Number of

Initializes convolutional block Args: in_channels: int, Number of input channels out_channels: int, Number of

Initializes SemDeepLabV3 model Args: backbone_name: string, ResNet Backbone Name [ResNet50/ResNet101]

Initialize 2D feature network via pretrained model Args: model_cfg: EasyDict, Dense classification network config

Initializes Grid Generator for frustum features Args: grid_size: [X, Y, Z], Voxel grid size pc_range: [x_min,

Initializes module Args: mode: string, Sampling mode [bilinear/nearest] padding_mode: string, Padding mode fo

Initializes module to transform frustum features to voxel features via 3D transformation and sampling Args: model_cfg: Ea

Initialize frustum feature network via depth distribution estimation Args: model_cfg: EasyDict, Depth classification netw

Initialize fixed foreground/background loss balancer Args: fg_weight: float, Foreground loss weight bg_weight

Initializes DDNLoss module Args: weight: float, Loss function weight alpha: float, Alpha value for Focal Loss

Initializes depth distribution network. Args: constructor: function, Model constructor feat_extract_layer: st

Initializes DDNDeepLabV3 model Args: backbone_name: string, ResNet Backbone Name [ResNet50/ResNet101]

inplanes: 输入的通道树，int planes: stride:卷积层的步长 downsample: 分支下采样（nn.Sequential）

Initializes 2D convolution collapse module Args: model_cfg: EasyDict, Model configuration grid_size: (X, Y, Z