Update nuscenes_3d_det_track_dataset.py.

freddiekimN · Feb 19, 2024 · 2543c77 · 2543c77
1 parent 9fd6aad
commit 2543c77
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/projects/mmdet3d_plugin/datasets/nuscenes_3d_det_track_dataset.py b/projects/mmdet3d_plugin/datasets/nuscenes_3d_det_track_dataset.py
@@ -310,7 +310,7 @@ def get_data_info(self, index):
                 lidar2cam_rt = np.eye(4)
                 lidar2cam_rt[:3, :3] = lidar2cam_r.T
                 lidar2cam_rt[3, :3] = -lidar2cam_t
-                intrinsic = cam_info["cam_intrinsic"]
+                intrinsic = copy.deepcopy(cam_info["cam_intrinsic"])
                 cam_intrinsic.append(intrinsic)
                 viewpad = np.eye(4)
                 viewpad[: intrinsic.shape[0], : intrinsic.shape[1]] = intrinsic