Update dataset.py

pcdet/datasets/dataset.py

@@ -122,15 +122,17 @@ class DatasetTemplate(torch_data.Dataset):
         if self.training:
             assert 'gt_boxes' in data_dict, 'gt_boxes should be provided for training'
             gt_boxes_mask = np.array([n in self.class_names for n in data_dict['gt_names']], dtype=np.bool_)
-
-            calib = data_dict['calib']
+            
+            if 'calib' in data_dict:
+                calib = data_dict['calib']
             data_dict = self.data_augmentor.forward(
                 data_dict={
                     **data_dict,
                     'gt_boxes_mask': gt_boxes_mask
                 }
             )
-            data_dict['calib'] = calib
+            if 'calib' in data_dict:
+                data_dict['calib'] = calib
         if data_dict.get('gt_boxes', None) is not None:
             selected = common_utils.keep_arrays_by_name(data_dict['gt_names'], self.class_names)
             data_dict['gt_boxes'] = data_dict['gt_boxes'][selected]