fix reshape error in issue 332

HuangJunJie2017 · Mar 19, 2024 · 58c2587 · 58c2587
1 parent 6fd935a
commit 58c2587
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mmdet3d/models/necks/view_transformer.py b/mmdet3d/models/necks/view_transformer.py
@@ -744,7 +744,7 @@ def __init__(self, loss_depth_weight=3.0, depthnet_cfg=dict(), **kwargs):
 
     def get_mlp_input(self, sensor2ego, ego2global, intrin, post_rot, post_tran, bda):
         B, N, _, _ = sensor2ego.shape
-        bda = bda.view(B, 1, 3, 3).repeat(1, N, 1, 1)
+        bda = bda.view(B, 1, 4, 4).repeat(1, N, 1, 1)
         mlp_input = torch.stack([
             intrin[:, :, 0, 0],
             intrin[:, :, 1, 1],