lyft_dataset.yaml

DATASET: 'LyftDataset'
DATA_PATH: '../data/lyft'

VERSION: 'trainval'
SET_NAN_VELOCITY_TO_ZEROS: True
FILTER_MIN_POINTS_IN_GT: 1
MAX_SWEEPS: 5
EVAL_LYFT_IOU_LIST: [0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95]

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

INFO_PATH: {
    'train': [lyft_infos_train.pkl],
    'test': [lyft_infos_val.pkl],
}

POINT_CLOUD_RANGE: [-80.0, -80.0, -5.0, 80.0, 80.0, 3.0]

DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['placeholder']
    AUG_CONFIG_LIST:
        - NAME: gt_sampling
          DB_INFO_PATH:
              - lyft_dbinfos_10sweeps.pkl
          PREPARE: {
             filter_by_min_points: [
                 'car:5','pedestrian:5', 'motorcycle:5', 'bicycle:5', 'other_vehicle:5',
                 'bus:5', 'truck:5', 'emergency_vehicle:5', 'animal:5'
             ],
          }

          SAMPLE_GROUPS: [
              'car:3','pedestrian:3', 'motorcycle:6', 'bicycle:6', 'other_vehicle:4',
              'bus:4', 'truck:3', 'emergency_vehicle:7', 'animal:3'
          ]

          NUM_POINT_FEATURES: 5
          DATABASE_WITH_FAKELIDAR: False
          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: [-0.3925, 0.3925]

        - 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', 'timestamp'],
    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
}


DATA_PROCESSOR:
    - NAME: mask_points_and_boxes_outside_range
      REMOVE_OUTSIDE_BOXES: True

    - NAME: shuffle_points
      SHUFFLE_ENABLED: {
        'train': True,
        'test': True
      }

    - NAME: transform_points_to_voxels
      VOXEL_SIZE: [0.1, 0.1, 0.2]
      MAX_POINTS_PER_VOXEL: 10
      MAX_NUMBER_OF_VOXELS: {
        'train': 80000,
        'test': 80000
      }