da_nuscenes_kitti_dataset.yaml

DATASET: 'NuScenesDataset'
DATA_PATH: '/data/public/Nuscenes'

VERSION: 'v1.0-trainval'
SET_NAN_VELOCITY_TO_ZEROS: True
FILTER_MIN_POINTS_IN_GT: 1

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

INFO_PATH: {
    'train': [nuscenes_infos_10sweeps_train.pkl],
    'test': [nuscenes_infos_10sweeps_val.pkl],
}

POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
MIN_POINTS_OF_GT: 1

DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['random_object_scaling', 'normalize_object_size']
    AUG_CONFIG_LIST:
        - NAME: random_object_scaling
          SCALE_UNIFORM_NOISE: [0.75, 1.0]

        - NAME: normalize_object_size
          SIZE_RES: [-0.75, -0.34, -0.2]

        - NAME: random_object_rotation
          ROT_PROB: 0.8
          ROT_UNIFORM_NOISE: [-0.78539816, 0.78539816]
        - 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'],
    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': False
      }

    - NAME: transform_points_to_voxels
      VOXEL_SIZE: [0.1, 0.1, 0.15]
      MAX_POINTS_PER_VOXEL: 5
      MAX_NUMBER_OF_VOXELS: {
        'train': 80000,
        'test': 90000
      }