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Merge pull request #16 from xczhanjun/truck 

Fix create data problem : missing sample_index and camera_intrinsics …
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Haotian (Ken) Tang 2022-06-10 00:07:01 -04:00 committed by GitHub
parent 6bce86a53c 408b645179
commit 93d99697ee
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1 changed files with 2 additions and 1 deletions
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3
mmdet3d/datasets/nuscenes_dataset.py
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@ -211,6 +211,7 @@ class NuScenesDataset(Custom3DDataset):
data = dict( data = dict(
token=info["token"], token=info["token"],
sample_idx=info['token'],
lidar_path=info["lidar_path"], lidar_path=info["lidar_path"],
sweeps=info["sweeps"], sweeps=info["sweeps"],
timestamp=info["timestamp"], timestamp=info["timestamp"],
@ -251,7 +252,7 @@ class NuScenesDataset(Custom3DDataset):
# camera intrinsics # camera intrinsics
camera_intrinsics = np.eye(4).astype(np.float32) 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) data["camera_intrinsics"].append(camera_intrinsics)
# lidar to image transform # lidar to image transform