'rotate' is not defined about maptr

[LegendBC]

Hi @Zhutianyi7230 , thanks for your interest! You can import rotate as BEVFormer: from torchvision.transforms.functional import rotate

[zen-d]

@Zhutianyi7230 @LegendBC When I try to run a multi-frame setting, is it enough to modify the len_queue in the cfg? I do like the above but meet some errors. Have you met similar issues?

[Zhutianyi7230]

Hi @Zhutianyi7230 , thanks for your interest! You can import rotate as BEVFormer: from torchvision.transforms.functional import rotate

感谢reply，len_queue=2时能跑通了。但对于代码仍存在一个问题：
line138 , in projects/mmdet3d_plugin/maptr/modules/transformer.py
rotation_angle = kwargs['img_metas'][i]['can_bus'][-1]

我猜想这里的本意是把prev_bev转到当前lidar坐标系下，
但是根据projects/mmdet3d_plugin/datasets/nuscenes_map_dataset.py中line1193~1202来看，kwargs['img_metas'][i]['can_bus'][-1]表示的是ego2global_rotation.
是否存在问题呢，谢谢。