71 lines
1.6 KiB
YAML
71 lines
1.6 KiB
YAML
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DATASET: 'KittiDataset'
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DATA_PATH: '../data/kitti'
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POINT_CLOUD_RANGE: [0, -40, -3, 70.4, 40, 1]
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DATA_SPLIT: {
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'train': train,
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'test': val
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}
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INFO_PATH: {
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'train': [kitti_infos_train.pkl],
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'test': [kitti_infos_val.pkl],
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}
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GET_ITEM_LIST: ["points"]
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FOV_POINTS_ONLY: True
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DATA_AUGMENTOR:
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DISABLE_AUG_LIST: ['placeholder']
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AUG_CONFIG_LIST:
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- NAME: gt_sampling
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USE_ROAD_PLANE: True
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DB_INFO_PATH:
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- kitti_dbinfos_train.pkl
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PREPARE: {
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filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
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filter_by_difficulty: [-1],
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}
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SAMPLE_GROUPS: ['Car:20','Pedestrian:15', 'Cyclist:15']
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NUM_POINT_FEATURES: 4
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DATABASE_WITH_FAKELIDAR: False
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REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
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LIMIT_WHOLE_SCENE: True
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- NAME: random_world_flip
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ALONG_AXIS_LIST: ['x']
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- NAME: random_world_rotation
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WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
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- NAME: random_world_scaling
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WORLD_SCALE_RANGE: [0.95, 1.05]
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POINT_FEATURE_ENCODING: {
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encoding_type: absolute_coordinates_encoding,
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used_feature_list: ['x', 'y', 'z', 'intensity'],
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src_feature_list: ['x', 'y', 'z', 'intensity'],
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}
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DATA_PROCESSOR:
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- NAME: mask_points_and_boxes_outside_range
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REMOVE_OUTSIDE_BOXES: True
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- NAME: shuffle_points
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SHUFFLE_ENABLED: {
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'train': True,
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'test': False
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}
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- NAME: transform_points_to_voxels
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VOXEL_SIZE: [0.05, 0.05, 0.1]
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MAX_POINTS_PER_VOXEL: 5
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MAX_NUMBER_OF_VOXELS: {
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'train': 16000,
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'test': 40000
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}
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