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
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started roslaunch server http://cao-System-Product-Name:32873/
SUMMARY
PARAMETERS
- /model_name: swint
- /precision: fp16
- /rosdistro: noetic
- /rosversion: 1.16.0
- /topic_cloud: /lidar_top
- /topic_img_b: /cam_back/raw
- /topic_img_bl: /cam_back_left/raw
- /topic_img_br: /cam_back_right/raw
- /topic_img_f: /cam_front/raw
- /topic_img_fl: /cam_front_left/raw
- /topic_img_fr: /cam_front_right/raw
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]