[Fix] Fix visualization in KITTI dataset (#956)

* fix bug to support kitti vis * fix
open-mmlab · Sep 22, 2021 · 4a804bf · 4a804bf
1 parent 5be3d11
commit 4a804bf
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/mmdet3d/core/visualizer/image_vis.py b/mmdet3d/core/visualizer/image_vis.py
@@ -192,7 +192,10 @@ def draw_camera_bbox3d_on_img(bboxes3d,
     points_3d = corners_3d.reshape(-1, 3)
     if not isinstance(cam2img, torch.Tensor):
         cam2img = torch.from_numpy(np.array(cam2img))
-    cam2img = cam2img.reshape(3, 3).float().cpu()
+
+    assert (cam2img.shape == torch.Size([3, 3])
+            or cam2img.shape == torch.Size([4, 4]))
+    cam2img = cam2img.float().cpu()
 
     # project to 2d to get image coords (uv)
     uv_origin = points_cam2img(points_3d, cam2img)