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[Fix] Fix incorrect velo indexing when formatting boxes on nuScenes #1049

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Nov 13, 2021
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2 changes: 1 addition & 1 deletion mmdet3d/datasets/nuscenes_mono_dataset.py
Original file line number Diff line number Diff line change
Expand Up @@ -776,7 +776,7 @@ def nusc_box_to_cam_box3d(boxes):
dims = torch.Tensor([b.wlh for b in boxes]).view(-1, 3)
rots = torch.Tensor([b.orientation.yaw_pitch_roll[0]
for b in boxes]).view(-1, 1)
velocity = torch.Tensor([b.velocity[:2] for b in boxes]).view(-1, 2)
velocity = torch.Tensor([b.velocity[0::2] for b in boxes]).view(-1, 2)

# convert nusbox to cambox convention
dims[:, [0, 1, 2]] = dims[:, [1, 2, 0]]
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