From 3d8af872901318e8b2dd697857f210e8285f15b8 Mon Sep 17 00:00:00 2001 From: David Holtz <56723830+dmholtz@users.noreply.github.com> Date: Fri, 1 Dec 2023 00:00:31 +0100 Subject: [PATCH] Make nuScenes dataparser compatible with ParallelDataManager (#2635) The ParallelDataManager (see #2092) makes pytorch crash if the cameras instance's fx, fy, cx or cy tensors are loaded from a common shared tensor. This PR fixes the issue by cloning the respective tensors before passing them to the Cameras(...) constructor. --- nerfstudio/data/dataparsers/nuscenes_dataparser.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/nerfstudio/data/dataparsers/nuscenes_dataparser.py b/nerfstudio/data/dataparsers/nuscenes_dataparser.py index 317717e86..0e899a68c 100644 --- a/nerfstudio/data/dataparsers/nuscenes_dataparser.py +++ b/nerfstudio/data/dataparsers/nuscenes_dataparser.py @@ -200,10 +200,10 @@ class NuScenes(DataParser): ) cameras = Cameras( - fx=intrinsics[:, 0, 0], - fy=intrinsics[:, 1, 1], - cx=intrinsics[:, 0, 2], - cy=intrinsics[:, 1, 2], + fx=intrinsics[:, 0, 0].detach().clone(), + fy=intrinsics[:, 1, 1].detach().clone(), + cx=intrinsics[:, 0, 2].detach().clone(), + cy=intrinsics[:, 1, 2].detach().clone(), height=900, width=1600, camera_to_worlds=poses[:, :3, :4],