mmdet3d_fixes.patch

diff --git a/demo/mono_det_demo.py b/demo/mono_det_demo.py
index 42416fd9..0f4fcec9 100644
--- a/demo/mono_det_demo.py
+++ b/demo/mono_det_demo.py
@@ -56,8 +56,8 @@ def parse_args():
     call_args = vars(parser.parse_args())
 
     call_args['inputs'] = dict(
-        img=call_args.pop('img'), infos=call_args.pop('infos'))
-    call_args.pop('cam_type')
+        img=call_args.pop('img'), infos=call_args.pop('infos')
+    )
 
     if call_args['no_save_vis'] and call_args['no_save_pred']:
         call_args['out_dir'] = ''
diff --git a/mmdet3d/apis/inferencers/base_3d_inferencer.py b/mmdet3d/apis/inferencers/base_3d_inferencer.py
index 6564325e..e5cf56f0 100644
--- a/mmdet3d/apis/inferencers/base_3d_inferencer.py
+++ b/mmdet3d/apis/inferencers/base_3d_inferencer.py
@@ -168,6 +168,7 @@ class Base3DInferencer(BaseInferencer):
         kwargs['pred_out_dir'] = out_dir
         if cam_type != '':
             kwargs['cam_type_dir'] = cam_type
+            kwargs['cam_type'] = cam_type
         return super()._dispatch_kwargs(**kwargs)
 
     def __call__(self,
diff --git a/mmdet3d/apis/inferencers/mono_det3d_inferencer.py b/mmdet3d/apis/inferencers/mono_det3d_inferencer.py
index 22863ae1..abbfab7f 100644
--- a/mmdet3d/apis/inferencers/mono_det3d_inferencer.py
+++ b/mmdet3d/apis/inferencers/mono_det3d_inferencer.py
@@ -107,25 +107,25 @@ class MonoDet3DInferencer(Base3DInferencer):
             assert len(info_list) == len(inputs)
             for index, input in enumerate(inputs):
                 data_info = info_list[index]
-                img_path = data_info['images'][cam_type]['img_path']
-                if isinstance(input['img'], str) and \
-                        osp.basename(img_path) != osp.basename(input['img']):
-                    raise ValueError(
-                        f'the info file of {img_path} is not provided.')
+                #img_path = data_info['images'][cam_type]['img_path']
+                #if isinstance(input['img'], str) and \
+                #        osp.basename(img_path) != osp.basename(input['img']):
+                #    raise ValueError(
+                #        f'the info file of {img_path} is not provided.')
                 cam2img = np.asarray(
                     data_info['images'][cam_type]['cam2img'], dtype=np.float32)
-                lidar2cam = np.asarray(
-                    data_info['images'][cam_type]['lidar2cam'],
-                    dtype=np.float32)
-                if 'lidar2img' in data_info['images'][cam_type]:
-                    lidar2img = np.asarray(
-                        data_info['images'][cam_type]['lidar2img'],
-                        dtype=np.float32)
-                else:
-                    lidar2img = cam2img @ lidar2cam
+                # lidar2cam = np.asarray(
+                #     data_info['images'][cam_type]['lidar2cam'],
+                #     dtype=np.float32)
+                # if 'lidar2img' in data_info['images'][cam_type]:
+                #     lidar2img = np.asarray(
+                #         data_info['images'][cam_type]['lidar2img'],
+                #         dtype=np.float32)
+                # else:
+                #     lidar2img = cam2img @ lidar2cam
                 input['cam2img'] = cam2img
-                input['lidar2cam'] = lidar2cam
-                input['lidar2img'] = lidar2img
+                # input['lidar2cam'] = lidar2cam
+                # input['lidar2img'] = lidar2img
         elif isinstance(inputs, (list, tuple)):
             # get cam2img, lidar2cam and lidar2img from infos
             for input in inputs: