wuwenhai
/
bev-project
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix create data problem : missing sample_index and camera_intrinsics keys in get_data_info [#11]

This commit is contained in:
zhanjun 2022-06-10 11:15:52 +08:00
parent 6bce86a53c
commit 408b645179
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
mmdet3d/datasets/nuscenes_dataset.py
View File

@ -211,6 +211,7 @@ class NuScenesDataset(Custom3DDataset):
data = dict(
token=info["token"],
sample_idx=info['token'],
lidar_path=info["lidar_path"],
sweeps=info["sweeps"],
timestamp=info["timestamp"],
@ -251,7 +252,7 @@ class NuScenesDataset(Custom3DDataset):
# camera intrinsics
camera_intrinsics = np.eye(4).astype(np.float32)
camera_intrinsics[:3, :3] = camera_info["cam_intrinsic"]
camera_intrinsics[:3, :3] = camera_info["camera_intrinsics"]
data["camera_intrinsics"].append(camera_intrinsics)
# lidar to image transform