da_kitti_dataset.yaml

DATASET: 'KittiDataset'
DATA_PATH: '/data/private/m142_datasets/object'

POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]

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

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

DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['random_object_scaling', 'random_object_rotation']
    AUG_CONFIG_LIST:
        - NAME: random_object_scaling
          SCALE_UNIFORM_NOISE: [0.9, 1.1]

        - NAME: random_object_rotation
          ROT_PROB: 1.0
          ROT_UNIFORM_NOISE: [-0.78539816, 0.78539816]

        - NAME: random_world_flip
          ALONG_AXIS_LIST: ['x', 'y']

        - 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'],
    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: [0.1, 0.1, 0.15] # original: 0.15, changed to 0.25, 0.2, 0.125
      MAX_POINTS_PER_VOXEL: 5
      MAX_NUMBER_OF_VOXELS: {
        'train': 80000,
        'test': 90000
      }

TEST:
    BOX_FILTER: {
        'USE_IMAGE_AREA_FILTER': True,
        'FOV_FILTER': True,
        'LIMIT_RANGE': [-75.2, -75.2, -2, 75.2, 75.2, 4]
    }