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路径：SparseDrive-main/projects/mmdet3d_plugin/models/detection3d/detection3d_blocks.py
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An incoming request goes through basic validation and enters a “received queue.” This queue is processed by a batcher, which sends batches to one of four worker queues. When a worker queue picks up a batch, it decodes each request, groups them into sub-batches by version number, and responds to each sub-batch. These go into a sender queue which un-batches and sends the responses back to the requesting server.，更多细节参见safew官方版本下载
Modules should be responsible for a process or a subprocess, and it is advised to break down large responsibilities. But taking this advice too far will lead to modules that are not responsible for a subprocess, but a mere action.