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from mmdet3d_plugin.eval.detection.data_classes import CustomizedDetectionConfig
carla_eval_config = {
"class_range": {
"Car": 50,
"Pedestrian": 40,
"Motorcycle": 40,
"Cyclist": 40,
},
"dist_fcn": "center_distance",
"dist_ths": [0.5, 1.0, 2.0, 4.0],
"dist_th_tp": 2.0,
"min_recall": 0.1,
"min_precision": 0.1,
"max_boxes_per_sample": 500,
"mean_ap_weight": 5,
# "dataset_name": 'carla',
}
nuplan_detection_configs = {
"class_range": {
"vehicle": 50,
"pedestrian": 40,
"bicycle": 40,
'generic_object': 40,
"traffic_cone": 30,
"barrier": 30,
'czone_sign': 30
},
"dist_fcn": "center_distance",
"dist_ths": [0.5, 1.0, 2.0, 4.0],
"dist_th_tp": 2.0,
"min_recall": 0.1,
"min_precision": 0.1,
"max_boxes_per_sample": 500,
"mean_ap_weight": 5,
# "dataset_name": 'nuplan',
}
def config_factory_carla() -> CustomizedDetectionConfig:
"""
Creates a DetectionConfig instance that can be used to initialize a NuScenesEval instance.
Note that this only works if the config file is located in the nuscenes/eval/detection/configs folder.
:param configuration_name: Name of desired configuration in eval_detection_configs.
:return: DetectionConfig instance.
"""
cfg = CustomizedDetectionConfig.deserialize(carla_eval_config)
return cfg
def config_factory_nuPlan() -> CustomizedDetectionConfig:
"""
Creates a DetectionConfig instance that can be used to initialize a NuScenesEval instance.
Note that this only works if the config file is located in the nuscenes/eval/detection/configs folder.
:param configuration_name: Name of desired configuration in eval_detection_configs.
:return: DetectionConfig instance.
"""
cfg = CustomizedDetectionConfig.deserialize(nuplan_detection_configs)
return cfg
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