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