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Unverified Commit edc468bf authored by ZLTJohn's avatar ZLTJohn Committed by GitHub
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[Fix] Fix numpy ValueError in update_infos_to_v2.py (#2162)

parent 5e2fa8ce
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tools/dataset_converters/update_infos_to_v2.py
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...@@ -305,7 +305,7 @@ def update_nuscenes_infos(pkl_path, out_dir): ...@@ -305,7 +305,7 @@ def update_nuscenes_infos(pkl_path, out_dir):
rot = ori_sweep['sensor2lidar_rotation'] rot = ori_sweep['sensor2lidar_rotation']
trans = ori_sweep['sensor2lidar_translation'] trans = ori_sweep['sensor2lidar_translation']
lidar2sensor[:3, :3] = rot.T lidar2sensor[:3, :3] = rot.T
lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1)) lidar2sensor[:3, 3:4] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
temp_lidar_sweep['lidar_points'][ temp_lidar_sweep['lidar_points'][
'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist() 'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist()
temp_lidar_sweep['timestamp'] = ori_sweep['timestamp'] / 1e6 temp_lidar_sweep['timestamp'] = ori_sweep['timestamp'] / 1e6
...@@ -333,7 +333,7 @@ def update_nuscenes_infos(pkl_path, out_dir): ...@@ -333,7 +333,7 @@ def update_nuscenes_infos(pkl_path, out_dir):
rot = ori_info_dict['cams'][cam]['sensor2lidar_rotation'] rot = ori_info_dict['cams'][cam]['sensor2lidar_rotation']
trans = ori_info_dict['cams'][cam]['sensor2lidar_translation'] trans = ori_info_dict['cams'][cam]['sensor2lidar_translation']
lidar2sensor[:3, :3] = rot.T lidar2sensor[:3, :3] = rot.T
lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1)) lidar2sensor[:3, 3:4] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
empty_img_info['lidar2cam'] = lidar2sensor.astype( empty_img_info['lidar2cam'] = lidar2sensor.astype(
np.float32).tolist() np.float32).tolist()
temp_data_info['images'][cam] = empty_img_info temp_data_info['images'][cam] = empty_img_info
...@@ -786,7 +786,7 @@ def update_lyft_infos(pkl_path, out_dir): ...@@ -786,7 +786,7 @@ def update_lyft_infos(pkl_path, out_dir):
rot = ori_sweep['sensor2lidar_rotation'] rot = ori_sweep['sensor2lidar_rotation']
trans = ori_sweep['sensor2lidar_translation'] trans = ori_sweep['sensor2lidar_translation']
lidar2sensor[:3, :3] = rot.T lidar2sensor[:3, :3] = rot.T
lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1)) lidar2sensor[:3, 3:4] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
temp_lidar_sweep['lidar_points'][ temp_lidar_sweep['lidar_points'][
'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist() 'lidar2sensor'] = lidar2sensor.astype(np.float32).tolist()
# bc-breaking: Timestamp has divided 1e6 in pkl infos. # bc-breaking: Timestamp has divided 1e6 in pkl infos.
...@@ -814,7 +814,7 @@ def update_lyft_infos(pkl_path, out_dir): ...@@ -814,7 +814,7 @@ def update_lyft_infos(pkl_path, out_dir):
rot = ori_info_dict['cams'][cam]['sensor2lidar_rotation'] rot = ori_info_dict['cams'][cam]['sensor2lidar_rotation']
trans = ori_info_dict['cams'][cam]['sensor2lidar_translation'] trans = ori_info_dict['cams'][cam]['sensor2lidar_translation']
lidar2sensor[:3, :3] = rot.T lidar2sensor[:3, :3] = rot.T
lidar2sensor[:3, 3] = -1 * np.matmul(rot.T, trans.reshape(3, 1)) lidar2sensor[:3, 3:4] = -1 * np.matmul(rot.T, trans.reshape(3, 1))
empty_img_info['lidar2cam'] = lidar2sensor.astype( empty_img_info['lidar2cam'] = lidar2sensor.astype(
np.float32).tolist() np.float32).tolist()
temp_data_info['images'][cam] = empty_img_info temp_data_info['images'][cam] = empty_img_info
......
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