da_waymo_dataset_vs.yaml

DATASET: 'WaymoDataset'
DATA_PATH: '/data/private/m142_datasets/Waymo/waymo/waymo_format'
PROCESSED_DATA_TAG: 'waymo_processed_data_v0_5_0'

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

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

SAMPLED_INTERVAL: {
    'train': 5,
    'test': 1
}

INFO_WITH_FAKELIDAR: True

DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['random_object_scaling', 'normalize_object_size']
    AUG_CONFIG_LIST:
        - NAME: random_object_scaling
          SCALE_UNIFORM_NOISE: [0.75, 0.95]

        - NAME: normalize_object_size
          SIZE_RES: [-0.91, -0.49, -0.26]

        - 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', 'elongation'],
}


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, 0.25] # [L, W, H], VOXEL HEIGHTS: [0.15, 0.125, 0.2, 0.25] BEV_FEATURES: [256, 256, 128, 128], (ORIGINAL :0.15)
      MAX_POINTS_PER_VOXEL: 5
      MAX_NUMBER_OF_VOXELS: {
        'train': 80000,
        'test': 90000
      }