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Update mono_det3d_inferencer.py #2902

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Update mono_det3d_inferencer.py #2902

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43 changes: 23 additions & 20 deletions mmdet3d/apis/inferencers/mono_det3d_inferencer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -114,18 +114,19 @@ def _inputs_to_list(self,
f'the info file of {img_path} is not provided.')
cam2img = np.asarray(
data_info['images'][cam_type]['cam2img'], dtype=np.float32)
lidar2cam = np.asarray(
data_info['images'][cam_type]['lidar2cam'],
dtype=np.float32)
if 'lidar2img' in data_info['images'][cam_type]:
lidar2img = np.asarray(
data_info['images'][cam_type]['lidar2img'],
if 'lidar2cam' in data_info['images'][cam_type]:
lidar2cam = np.asarray(
data_info['images'][cam_type]['lidar2cam'],
dtype=np.float32)
else:
lidar2img = cam2img @ lidar2cam
if 'lidar2img' in data_info['images'][cam_type]:
lidar2img = np.asarray(
data_info['images'][cam_type]['lidar2img'],
dtype=np.float32)
else:
lidar2img = cam2img @ lidar2cam
input['lidar2cam'] = lidar2cam
input['lidar2img'] = lidar2img
input['cam2img'] = cam2img
input['lidar2cam'] = lidar2cam
input['lidar2img'] = lidar2img
elif isinstance(inputs, (list, tuple)):
# get cam2img, lidar2cam and lidar2img from infos
for input in inputs:
Expand All @@ -142,18 +143,20 @@ def _inputs_to_list(self,
f'the info file of {img_path} is not provided.')
cam2img = np.asarray(
data_info['images'][cam_type]['cam2img'], dtype=np.float32)
lidar2cam = np.asarray(
data_info['images'][cam_type]['lidar2cam'],
dtype=np.float32)
if 'lidar2img' in data_info['images'][cam_type]:
lidar2img = np.asarray(
data_info['images'][cam_type]['lidar2img'],
if 'lidar2cam' in data_info['images'][cam_type]:
lidar2cam = np.asarray(
data_info['images'][cam_type]['lidar2cam'],
dtype=np.float32)
else:
lidar2img = cam2img @ lidar2cam
if 'lidar2img' in data_info['images'][cam_type]:
lidar2img = np.asarray(
data_info['images'][cam_type]['lidar2img'],
dtype=np.float32)
else:
lidar2img = cam2img @ lidar2cam

input['lidar2cam'] = lidar2cam
input['lidar2img'] = lidar2img
input['cam2img'] = cam2img
input['lidar2cam'] = lidar2cam
input['lidar2img'] = lidar2img

return list(inputs)

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