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Fix: Resolve matrix dimension mismatch issue in _dispatch_kwargs #3062

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Fix: Resolve matrix dimension mismatch issue in _dispatch_kwargs #3062

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2 changes: 1 addition & 1 deletion demo/mono_det_demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ def parse_args():

call_args['inputs'] = dict(
img=call_args.pop('img'), infos=call_args.pop('infos'))
call_args.pop('cam_type')
# call_args.pop('cam_type')

if call_args['no_save_vis'] and call_args['no_save_pred']:
call_args['out_dir'] = ''
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3 changes: 2 additions & 1 deletion mmdet3d/apis/inferencers/base_3d_inferencer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,8 @@ def _dispatch_kwargs(self,
kwargs['img_out_dir'] = out_dir
kwargs['pred_out_dir'] = out_dir
if cam_type != '':
kwargs['cam_type_dir'] = cam_type
kwargs['cam_type'] = cam_type
# kwargs['cam_type_dir'] = cam_type
return super()._dispatch_kwargs(**kwargs)

def __call__(self,
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7 changes: 7 additions & 0 deletions mmdet3d/apis/inferencers/mono_det3d_inferencer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,13 @@ def _inputs_to_list(self,
lidar2cam = np.asarray(
data_info['images'][cam_type]['lidar2cam'],
dtype=np.float32)

if cam2img.shape == (3, 3):
cam2img_fixed = np.eye(4)
cam2img_fixed[:3, :3] = cam2img
cam2img = cam2img_fixed


if 'lidar2img' in data_info['images'][cam_type]:
lidar2img = np.asarray(
data_info['images'][cam_type]['lidar2img'],
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