[Bug] mmdet3d 基于nuscenes-v1.0mini的可视化

Prerequisite

[X] I have searched Issues and Discussions but cannot get the expected help.
[X] I have read the FAQ documentation but cannot get the expected help.
[X] The bug has not been fixed in the latest version (dev-1.x) or latest version (dev-1.0).

Task

I'm using the official example scripts/configs for the officially supported tasks/models/datasets.

Branch

main branch https://github.com/open-mmlab/mmdetection3d

Environment

命令行: python projects/BEVFusion/demo/multi_modality_demo.py demo/data/nuscenes/n015-2018-07-24-11-22-45+0800__LIDAR_TOP1532402927647951.pcd.bin demo/data/nuscenes/ demo/data/nuscenes/n015-2018-07-24-11-22-45+0800.pkl /home/g/mmdetection3d/mmdetection3d/work_dirs/bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d/bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py /home/g/mmdetection3d/mmdetection3d/work_dirs/bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d/epoch_10.pth --cam-type all --score-thr 0.2 --show 情况:出现一个黑色的图像然后就闪一下关闭了报错内容:/home/g/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmengine/visualization/visualizer.py:196: UserWarning: Failed to add <class 'mmengine.visualization.vis_backend.LocalVisBackend'>, please provide the save_dir argument. warnings.warn(f'Failed to add {vis_backend.class__}, ' Traceback (most recent call last): File "projects/BEVFusion/demo/multi_modality_demo.py", line 78, in main(args) File "projects/BEVFusion/demo/multi_modality_demo.py", line 64, in main visualizer.add_datasample( File "/home/g/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmengine/dist/utils.py", line 427, in wrapper return func(*args, *kwargs) File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/local_visualizer.py", line 1031, in add_datasample pred_data_3d = self._draw_instances_3d(data_input, File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/local_visualizer.py", line 707, in _draw_instances_3d self.draw_proj_bboxes_3d( File "/home/g/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmengine/dist/utils.py", line 427, in wrapper return func(args, **kwargs) File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/local_visualizer.py", line 533, in draw_proj_bboxes_3d corners_2d = proj_bbox3d_to_img(bboxes_3d, input_meta) File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/vis_utils.py", line 105, in proj_lidar_bbox3d_to_img lidar2img = copy.deepcopy(input_meta['lidar2img']).reshape(4, 4) KeyError: 'lidar2img'

Reproduces the problem - code sample

没有

Reproduces the problem - command or script

python projects/BEVFusion/demo/multi_modality_demo.py demo/data/nuscenes/n015-2018-07-24-11-22-45+0800__LIDAR_TOP__1532402927647951.pcd.bin demo/data/nuscenes/ demo/data/nuscenes/n015-2018-07-24-11-22-45+0800.pkl /home/g/mmdetection3d/mmdetection3d/work_dirs/bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d/bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py /home/g/mmdetection3d/mmdetection3d/work_dirs/bevfusion_lidar_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d/epoch_10.pth --cam-type all --score-thr 0.2 --show

Reproduces the problem - error message

/home/g/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmengine/visualization/visualizer.py:196: UserWarning: Failed to add <class 'mmengine.visualization.vis_backend.LocalVisBackend'>, please provide the save_dir argument. warnings.warn(f'Failed to add {vis_backend.class}, ' Traceback (most recent call last): File "projects/BEVFusion/demo/multi_modality_demo.py", line 78, in main(args) File "projects/BEVFusion/demo/multi_modality_demo.py", line 64, in main visualizer.add_datasample( File "/home/g/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmengine/dist/utils.py", line 427, in wrapper return func(*args, *kwargs) File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/local_visualizer.py", line 1031, in add_datasample pred_data_3d = self._draw_instances_3d(data_input, File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/local_visualizer.py", line 707, in _draw_instances_3d self.draw_proj_bboxes_3d( File "/home/g/miniconda3/envs/mmdet3d/lib/python3.8/site-packages/mmengine/dist/utils.py", line 427, in wrapper return func(args, **kwargs) File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/local_visualizer.py", line 533, in draw_proj_bboxes_3d corners_2d = proj_bbox3d_to_img(bboxes_3d, input_meta) File "/home/g/mmdetection3d/mmdetection3d/mmdet3d/visualization/vis_utils.py", line 105, in proj_lidar_bbox3d_to_img lidar2img = copy.deepcopy(input_meta['lidar2img']).reshape(4, 4) KeyError: 'lidar2img'

Additional information

我希望是一个可以用自己模型可视化的结果

open-mmlab / mmdetection3d