The image got with self.to_rgb = True is actually ugly BGR format!!!
It attempts to perform a BGR2RGB conversion on an RGB image!!!
# img is PIL.Image, the default mode is RGB
# This will make an ugly image if self.to_rgb = True.
img = mmcv.imnormalize(np.array(img), self.img_mean,
self.img_std, self.to_rgb)
The image got with self.to_rgb = True is actually ugly BGR format!!! It attempts to perform a BGR2RGB conversion on an RGB image!!!
https://github.com/Megvii-BaseDetection/BEVDepth/blob/d78c7b58b10b9ada940462ba83ab24d99cae5833/bevdepth/datasets/nusc_det_dataset.py#L498