90 lines
2.4 KiB
YAML
90 lines
2.4 KiB
YAML
DATASET: 'WaymoDataset'
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DATA_PATH: '../data/waymo'
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PROCESSED_DATA_TAG: 'waymo_processed_data_v0_5_0'
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POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
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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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SAMPLED_INTERVAL: {
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'train': 5,
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'test': 1
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}
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FILTER_EMPTY_BOXES_FOR_TRAIN: True
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DISABLE_NLZ_FLAG_ON_POINTS: True
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USE_SHARED_MEMORY: False # it will load the data to shared memory to speed up (DO NOT USE IT IF YOU DO NOT FULLY UNDERSTAND WHAT WILL HAPPEN)
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SHARED_MEMORY_FILE_LIMIT: 35000 # set it based on the size of your shared memory
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SEQUENCE_CONFIG:
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ENABLED: True
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SAMPLE_OFFSET: [-3, 0]
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TRAIN_WITH_SPEED: 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: False
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DB_INFO_PATH:
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- waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl
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USE_SHARED_MEMORY: False # set it to True to speed up (it costs about 50GB? shared memory)
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DB_DATA_PATH:
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- waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.npy
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PREPARE: {
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filter_by_min_points: ['Vehicle:5', 'Pedestrian:5', 'Cyclist:5'],
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filter_by_difficulty: [-1],
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}
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SAMPLE_GROUPS: ['Vehicle:15', 'Pedestrian:10', 'Cyclist:10']
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NUM_POINT_FEATURES: 6
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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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FILTER_OBJ_POINTS_BY_TIMESTAMP: True
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TIME_RANGE: [0.3, 0.0] # 0.3s-0.0s indicates 4 frames
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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: [-0.78539816, 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', 'elongation', 'timestamp'],
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src_feature_list: ['x', 'y', 'z', 'intensity', 'elongation', '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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USE_CENTER_TO_FILTER: 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, 0.15]
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MAX_POINTS_PER_VOXEL: 5
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MAX_NUMBER_OF_VOXELS: {
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'train': 180000,
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'test': 400000
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}
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