bugfixed: remove data_dict.pop('calib') to support lidar+image in kitti

80173750 · Shaoshuai Shi · 16f9c032 · 80173750
Commit 80173750 authored Jul 03, 2022 by Shaoshuai Shi
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Showing with 33 additions and 33 deletions

pcdet/datasets/augmentor/data_augmentor.py pcdet/datasets/augmentor/data_augmentor.py +33 -33

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--- a/pcdet/datasets/augmentor/data_augmentor.py
+++ b/pcdet/datasets/augmentor/data_augmentor.py
@@ -245,8 +245,8 @@ class DataAugmentor(object):
        data_dict['gt_boxes'][:, 6] = common_utils.limit_period(
            data_dict['gt_boxes'][:, 6], offset=0.5, period=2 * np.pi
        )
-        if 'calib' in data_dict:
-            data_dict.pop('calib')
+        # if 'calib' in data_dict:
+        #     data_dict.pop('calib')
        if 'road_plane' in data_dict:
            data_dict.pop('road_plane')
        if 'gt_boxes_mask' in data_dict: