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kitti_dataset_pointpillar.yaml 1.49 KB
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update configs  
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DATASET: 'KittiDataset'
DATA_PATH: '../data/kitti'

POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]

DATA_SPLIT: {
    'train': train,
    'test': val
}

INFO_PATH: {
    'train': [kitti_infos_train.pkl],
    'test': [kitti_infos_val.pkl],
}

FOV_POINTS_ONLY: True


DATA_AUGMENTOR:
    - NAME: gt_sampling
      USE_ROAD_PLANE: True
      DB_INFO_PATH:
          - kitti_dbinfos_train.pkl
      PREPARE: {
         filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
         filter_by_difficulty: [-1],
      }

      SAMPLE_GROUPS: ['Car:15','Pedestrian:10', 'Cyclist:10']
      NUM_POINT_FEATURES: 4
      DATABASE_WITH_FAKELIDAR: True
      REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
      LIMIT_WHOLE_SCENE: False

    - NAME: random_world_flip
      ALONG_AXIS_LIST: ['x']

    - 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: [0.16, 0.16, 4]
      MAX_POINTS_PER_VOXEL: 32
      MAX_NUMBER_OF_VOXELS: {
        'train': 16000,
        'test': 40000
      }