| 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 |
| } |
| COMPUTE_VOXEL_CENTERS: True |
