update config

tools/cfgs/kitti_models/pointpillar.yaml

@@ -20,6 +20,30 @@ DATA_CONFIG:
             'train': 16000,
             'test': 40000
           }
+    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:15', 'Cyclist:15']
+          NUM_POINT_FEATURES: 4
+          DATABASE_WITH_FAKELIDAR: False
+          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]
 
 MODEL:
     NAME: PointPillar

tools/cfgs/kitti_models/pv_rcnn.yaml

@@ -2,7 +2,30 @@ CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
 
 DATA_CONFIG:
     _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
-
+    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:20','Pedestrian:15', 'Cyclist:15']
+          NUM_POINT_FEATURES: 4
+          DATABASE_WITH_FAKELIDAR: False 
+          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]
 
 MODEL:
     NAME: PVRCNN