| DATASET: 'ONCEDataset' | |
| DATA_PATH: './datasets/once' | |
| CLOUD_DATA_PATH: './datasets/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 | |
| } |