81 lines
2.0 KiB
YAML
81 lines
2.0 KiB
YAML
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DATASET: 'NuScenesDataset'
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DATA_PATH: '../data/nuscenes'
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VERSION: 'v1.0-trainval'
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MAX_SWEEPS: 10
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PRED_VELOCITY: True
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SET_NAN_VELOCITY_TO_ZEROS: True
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FILTER_MIN_POINTS_IN_GT: 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': [nuscenes_infos_10sweeps_train.pkl],
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'test': [nuscenes_infos_10sweeps_val.pkl],
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}
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POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
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BALANCED_RESAMPLING: 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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DB_INFO_PATH:
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- nuscenes_dbinfos_10sweeps_withvelo.pkl
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PREPARE: {
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filter_by_min_points: [
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'car:5','truck:5', 'construction_vehicle:5', 'bus:5', 'trailer:5',
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'barrier:5', 'motorcycle:5', 'bicycle:5', 'pedestrian:5', 'traffic_cone:5'
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],
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}
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SAMPLE_GROUPS: [
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'car:2','truck:3', 'construction_vehicle:7', 'bus:4', 'trailer:6',
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'barrier:2', 'motorcycle:6', 'bicycle:6', 'pedestrian:2', 'traffic_cone:2'
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]
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NUM_POINT_FEATURES: 5
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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', 'y']
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- NAME: random_world_rotation
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WORLD_ROT_ANGLE: [-0.3925, 0.3925]
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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', 'timestamp'],
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src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
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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': True
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}
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- NAME: transform_points_to_voxels
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VOXEL_SIZE: [0.1, 0.1, 0.2]
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MAX_POINTS_PER_VOXEL: 10
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MAX_NUMBER_OF_VOXELS: {
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'train': 60000,
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'test': 60000
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}
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