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tools/cfgs/dataset_configs/once_dataset.yaml

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+DATASET: 'ONCEDataset'
+DATA_PATH: '../data/once'
+CLOUD_DATA_PATH: '/cache/once'
+
+POINT_CLOUD_RANGE: [-75.2, -75.2, -5.0, 75.2, 75.2, 3.0]
+
+INFO_PATH: {
+    'train': [once_infos_train.pkl],
+    'val': [once_infos_val.pkl],
+    'test': [once_infos_test.pkl],
+}
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+
+DATA_AUGMENTOR:
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+        - NAME: gt_sampling
+          USE_ROAD_PLANE: False
+          DB_INFO_PATH:
+              - once_dbinfos_train.pkl
+          PREPARE: {
+             filter_by_min_points: ['Car:5', 'Bus:5', 'Truck:5', 'Pedestrian:5', 'Cyclist:5'],
+          }
+
+          SAMPLE_GROUPS: ['Car:1', 'Bus:4', 'Truck:3', 'Pedestrian:2', 'Cyclist:2']
+          NUM_POINT_FEATURES: 4
+          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+          LIMIT_WHOLE_SCENE: True
+
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: ['x', 'y']
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [0.95, 1.05]
+
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'intensity'],
+    src_feature_list: ['x', 'y', 'z', 'intensity'],
+}
+
+
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.2]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+        'train': 60000,
+        'test': 60000
+      }