waymo_dataset_no_gtsampling.yaml

DATASET: 'WaymoDataset'
DATA_PATH: '../data/waymo'
PROCESSED_DATA_TAG: 'processed_data'

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

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

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

INFO_WITH_FAKELIDAR: True

DATA_AUGMENTOR:
    - 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', 'intensity', 'elongation'],
    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, 0.15]
      MAX_POINTS_PER_VOXEL: 5
      MAX_NUMBER_OF_VOXELS: {
        'train': 80000,
        'test': 90000
      }