def projection_to_birds_eye_view(self, x, geometry): """ Adapted from https://github.com/nv-tlabs/lift-splat-shoot/blob/master/src/models.py#L200中的x_b = x[b].reshape(N, c)为什么这样做？

这里的x_b = x[b].reshape(N, c)是将输入x从原始形状reshape为一个N行c列的矩阵，其中N表示样本数目，c表示每个样本的特征数。这个操作通常被称为“reshape”或“重塑”，它是一种在深度学习中常用的数据预处理技术之一。

在此函数中，输入x是一个形状为(N, H, W, C)的四维张量，其中N表示样本数目，H和W表示图像的高度和宽度，C表示每个像素点的特征数。该函数的目的是将输入x从相机视角投影到鸟瞰图视角，这里的geometry参数表示相机和鸟瞰图之间的转换关系。因此，为了方便地进行投影变换，需要将输入x从原始形状reshape为一个二维矩阵，其中每一行代表一个像素点，每列代表一个特征。这样就可以方便地进行投影变换操作，将每个像素点从相机视角映射到鸟瞰图视角。

相关问题

将QT += core QT -= gui CONFIG += c++11 TARGET = UavRectifyLoadLIb CONFIG += console CONFIG -= app_bundle TEMPLATE = app SOURCES += main.cpp # The following define makes your compiler emit warnings if you use # any feature of Qt which as been marked deprecated (the exact warnings # depend on your compiler). Please consult the documentation of the # deprecated API in order to know how to port your code away from it. DEFINES += QT_DEPRECATED_WARNINGS win32{ CONFIG(debug, debug|release){ DESTDIR = $$PWD/../../../../RasterManager/bin/Debug } else{ DESTDIR = $$PWD/../../../../RasterManager/bin/release } INCLUDEPATH += $$PWD/../../../include/gdal1101 DEPENDPATH += $$PWD/../../../include/gdal1101 } else{ CONFIG(debug, debug|release){ DESTDIR = $$PWD/../../../product/release32 } else{ DESTDIR = $$PWD/../../../product/release32 } } # You can also make your code fail to compile if you use deprecated APIs. # In order to do so, uncomment the following line. # You can also select to disable deprecated APIs only up to a certain version of Qt. #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 unix:!macx: LIBS += -L$$PWD/../../../product/release32/ -lUAVAutoRectifyMt -lUAVAutoRectify -lUAVAutoRectifyFi INCLUDEPATH += $$PWD/../include DEPENDPATH += $$PWD/../include unix:!macx: LIBS += -L$$PWD/../../../lib/opencvf249/ -lopencv_core unix:!macx: LIBS += -L$$PWD/../../../lib/opencvf249/ -lopencv_highgui unix:!macx: LIBS += -L$$PWD/../../../lib/opencvf249/ -lopencv_imgproc INCLUDEPATH += $$PWD/../../../lib/opencvf249 DEPENDPATH += $$PWD/../../../lib/opencvf249 unix:!macx: LIBS += -L$$PWD/../../../../../../../usr/local/lib/ -lopencv_core #unix:!macx: LIBS += -L$$PWD/../../../../../../../usr/local/lib/ -lopencv_highgui unix:!macx: LIBS += -L$$PWD/../../../../../../../usr/local/lib/ -lopencv_imgproc unix:!macx: LIBS += -L$$PWD/../../../../../../../usr/local/lib/ -lopencv_features2d unix:!macx: LIBS += -L$$PWD/../../../../../../../usr/local/lib/ -lopencv_imgcodecs INCLUDEPATH += $$PWD/../../../../../../../usr/local/include DEPENDPATH += $$PWD/../../../../../../../usr/local/include unix:!macx: LIBS += -L$$PWD/../../../product/release32/ -lDEMDriver unix:!macx: LIBS += -L$$PWD/../../../product/release32/ -lProjection unix:!macx: LIBS += -L$$PWD/../../../product/release32/ -lIImage_gC QMAKE_CXXFLAGS_RELEASE = $$QMAKE_CFLAGS_RELEASE_WITH_DEBUGINFO QMAKE_LFLAGS_RELEASE = $$QMAKE_LFLAGS_RELEASE_WITH_DEBUGINFO 转为cmake格式

根据给出的代码，可以将其转化为以下CMake代码：

cmake_minimum_required(VERSION 3.5)

project(UavRectifyLoadLIb LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)

find_package(Qt5Core REQUIRED)

add_executable(UavRectifyLoadLIb
    main.cpp
)

target_link_libraries(UavRectifyLoadLIb
    PRIVATE
        Qt5::Core
        UAVAutoRectifyMt
        UAVAutoRectify
        UAVAutoRectifyFi
        DEMDriver
        Projection
        IImage_gC
        opencv_core
        opencv_highgui
        opencv_imgproc
        opencv_features2d
        opencv_imgcodecs
)

target_include_directories(UavRectifyLoadLIb
    PRIVATE
        ${CMAKE_CURRENT_SOURCE_DIR}/../../../include/gdal1101
        ${CMAKE_CURRENT_SOURCE_DIR}/../include
        ${CMAKE_CURRENT_SOURCE_DIR}/../../../lib/opencvf249
        ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../../../usr/local/include
)

if(UNIX AND NOT APPLE)
    target_link_directories(UavRectifyLoadLIb
        PRIVATE
            ${CMAKE_CURRENT_SOURCE_DIR}/../../../product/release32
            ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../../../usr/local/lib
    )
endif()

if(WIN32)
    if(CMAKE_BUILD_TYPE STREQUAL "Debug")
        set_target_properties(UavRectifyLoadLIb PROPERTIES
            RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_CURRENT_SOURCE_DIR}/../../../../RasterManager/bin/Debug
        )
    else()
        set_target_properties(UavRectifyLoadLIb PROPERTIES
            RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/../../../../RasterManager/bin/release
        )
    endif()
else()
    if(CMAKE_BUILD_TYPE STREQUAL "Debug")
        set_target_properties(UavRectifyLoadLIb PROPERTIES
            RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_CURRENT_SOURCE_DIR}/../../../product/release32
        )
    else()
        set_target_properties(UavRectifyLoadLIb PROPERTIES
            RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/../../../product/release32
        )
    endif()
endif()

queries = self.query_projection(queries).view(B, L, H, -1)

这行代码将输入的 queries 张量通过 self.query_projection 进行线性变换，并通过 view 函数改变其形状。具体来说，queries 首先通过 self.query_projection 进行线性变换，得到一个新的张量，然后使用 view 函数将其形状改变为 (B, L, H, -1)。

在这里，B 表示批量大小（batch size），L 表示序列长度，H 表示注意力头的数量。-1 表示自动计算该维度的大小，以使得总的元素个数保持不变。

通过这个操作，queries 张量的形状从 (B, L, d_model) 变为了 (B, L, H, d_keys)，其中每个头的维度为 d_keys。

这样做的目的是为了将输入张量进行线性变换，并且为每个注意力头分配一个特定的维度。这样在后续的注意力计算中，每个头可以独立地进行注意力权重的计算，从而提高模型的表达能力和灵活性。