地平线bev参考算法的官方文档中介绍了单帧可视化推理脚本infer.py的使用，输入为6V环视图像和homography矩阵，6V环视图像可以从解压的nuscenes数据集中获取，homography矩阵则是需要从nuscenes数据集中获取相机参数信息后经计算获得。
本文将介绍一种简单的homography矩阵导出方法，输入为nuscens数据集中6张环视图片的文件名"fileneme，输出为homography矩阵。
1. 安装nuscenes-devkit
首先在python环境中安装nuscenes-devkit，参考命令如下 ：
2. v1.0-mini数据集下载
3. 导出homography矩阵的代码
生成的ego2imgs.npy即为homography矩阵。
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