configs/kitti360.yaml

# This file is covered by the LICENSE file in the root of this project.
nbr_classes: 19
grid_dims: [256, 32, 256]  # (W, H, D)
labels:
  0 : "unlabeled"
  1 : "outlier"
  10: "car"
  11: "bicycle"
  13: "bus"
  15: "motorcycle"
  16: "on-rails"
  18: "truck"
  20: "other-vehicle"
  30: "person"
  31: "bicyclist"
  32: "motorcyclist"
  40: "road"
  44: "parking"
  48: "sidewalk"
  49: "other-ground"
  50: "building"
  51: "fence"
  52: "other-structure"
  60: "lane-marking"
  70: "vegetation"
  71: "trunk"
  72: "terrain"
  80: "pole"
  81: "traffic-sign"
  99: "other-object"
  252: "moving-car"
  253: "moving-bicyclist"
  254: "moving-person"
  255: "moving-motorcyclist"
  256: "moving-on-rails"
  257: "moving-bus"
  258: "moving-truck"
  259: "moving-other-vehicle"
color_map: # bgr
  0 : [0, 0, 0]
  1 : [0, 0, 255]
  10: [245, 150, 100]
  11: [245, 230, 100]
  13: [250, 80, 100]
  15: [150, 60, 30]
  16: [255, 0, 0]
  18: [180, 30, 80]
  20: [255, 0, 0]
  30: [30, 30, 255]
  31: [200, 40, 255]
  32: [90, 30, 150]
  40: [255, 0, 255]
  44: [255, 150, 255]
  48: [75, 0, 75]
  49: [75, 0, 175]
  50: [0, 200, 255]
  51: [50, 120, 255]
  52: [0, 150, 255]
  60: [170, 255, 150]
  70: [0, 175, 0]
  71: [0, 60, 135]
  72: [80, 240, 150]
  80: [150, 240, 255]
  81: [0, 0, 255]
  99: [255, 255, 50]
  252: [245, 150, 100]
  256: [255, 0, 0]
  253: [200, 40, 255]
  254: [30, 30, 255]
  255: [90, 30, 150]
  257: [250, 80, 100]
  258: [180, 30, 80]
  259: [255, 0, 0]
content: # as a ratio with the total number of points
  0: 0.2848417452056936
  1: 0.0
  10: 0.01983749599411903
  11: 9.719043492190106e-05
  13: 8.812172901085409e-05
  15: 0.00010387247418585811
  16: 0.003498548779509923
  18: 0.0022174305343550995
  20: 0.0012293279317961631
  30: 0.00019936933118689005
  31: 8.34775248250103e-05
  32: 0.0
  40: 0.18301380891811173
  44: 0.022222770320975044
  48: 0.10658338271700511
  49: 0.013312019108448078
  50: 0.08266303552442433
  51: 0.008460835861454078
  52: 0.033257320133170704
  60: 0.0
  70: 0.16860900009553803
  71: 0.0
  72: 0.04732251443431639
  80: 0.00032178137333487255
  81: 8.959468958873611e-05
  99: 0.0015188036331984448
  252: 0.0
  253: 0.0
  254: 0.0
  255: 0.0
  256: 0.0
  257: 0.0
  258: 0.0
  259: 0.0
# classes that are indistinguishable from single scan or inconsistent in
# ground truth are mapped to their closest equivalent
learning_map:
  0 : 0     # "unlabeled"
  1 : 0     # "outlier" mapped to "unlabeled" --------------------------mapped
  10: 1     # "car"
  11: 2     # "bicycle"
  13: 5     # "bus" mapped to "other-vehicle" --------------------------mapped
  15: 3     # "motorcycle"
  16: 5     # "on-rails" mapped to "other-vehicle" ---------------------mapped
  18: 4     # "truck"
  20: 5     # "other-vehicle"
  30: 6     # "person"
  31: 0     # "bicyclist" mapped to "unlabeled" --------------------mapped
  32: 0     # "motorcyclist" mapped to "unlabeled" -----------------mapped
  40: 7     # "road"
  44: 8    # "parking"
  48: 9    # "sidewalk"
  49: 10    # "other-ground"
  50: 11    # "building"
  51: 12    # "fence"
  52: 17     # "other-structure"
  60: 7     # "lane-marking" to "road" ---------------------------------mapped
  70: 13    # "vegetation"
  71: 0    # "trunk"
  72: 14    # "terrain"
  80: 15    # "pole"
  81: 16    # "traffic-sign"
  99: 18     # "other-object" 
  252: 1    # "moving-car" to "car" ------------------------------------mapped
  253: 0    # "moving-bicyclist" to "unlabeled" ------------------------mapped
  254: 6    # "moving-person" to "person" ------------------------------mapped
  255: 0    # "moving-motorcyclist" to "unlabeled" ------------------mapped
  256: 5    # "moving-on-rails" mapped to "other-vehicle" --------------mapped
  257: 5    # "moving-bus" mapped to "other-vehicle" -------------------mapped
  258: 4    # "moving-truck" to "truck" --------------------------------mapped
  259: 5    # "moving-other"-vehicle to "other-vehicle" ----------------mapped
learning_map_inv: # inverse of previous map
  0: 0      # "unlabeled", and others ignored
  1: 10     # "car"
  2: 11     # "bicycle"
  3: 15     # "motorcycle"
  4: 18     # "truck"
  5: 20     # "other-vehicle"
  6: 30     # "person"
  7: 40     # "road"
  8: 44     # "parking"
  9: 48    # "sidewalk"
  10: 49    # "other-ground"
  11: 50    # "building"
  12: 51    # "fence"
  13: 70    # "vegetation"
  14: 72    # "terrain"
  15: 80    # "pole"
  16: 81    # "traffic-sign"
  17: 52    # "other-structure"
  18: 99    # "other-object"
learning_ignore: # Ignore classes
  0: True      # "unlabeled", and others ignored
  1: False     # "car"
  2: False     # "bicycle"
  3: False     # "motorcycle"
  4: False     # "truck"
  5: False     # "other-vehicle"
  6: False     # "person"
  7: False     # "road"
  8: False     # "parking"
  9: False    # "sidewalk"
  10: False    # "other-ground"
  11: False    # "building"
  12: False    # "fence"
  13: False    # "vegetation"
  14: False    # "terrain"
  15: False    # "pole"
  16: False    # "traffic-sign"
  17: False    # "other-structure"
  18: False    # "other-object"
split: # sequence numbers
  train:
    - 0
    - 2
    - 3
    - 4
    - 5
    - 7
    - 10
  valid:
    - 6
  test:
    - 9