http://bbs.cvmart.net/topics/99/lun-wen-zheng-li-cvpr2018-ren-ti-zi-tai-xiang-guan
https://blog.youkuaiyun.com/u013548568/article/details/80503176
https://blog.youkuaiyun.com/github_36923418/article/details/80968289
collect-rotation-ditri.py出错的后需要改变地方
ffff= torch.abs((torch.ones(1) - tmp_vec.sum())) < 0.1 assert ffff[0]