236 lines
5.3 KiB
YAML
236 lines
5.3 KiB
YAML
radar_sweeps: 6
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radar_max_points: 2500
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radar_use_dims: [0, 1, 2, 5, 8, 9, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56]
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radar_compensate_velocity: true
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radar_filtering: none
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radar_voxel_size: [0.8, 0.8, 8]
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image_size: [256, 704]
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radar_jitter: 0
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radar_normalize: false
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model:
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type: BEVFusion
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encoders: null
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fuser: null
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heads:
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map: null
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train_pipeline:
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-
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type: LoadMultiViewImageFromFiles
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to_float32: true
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-
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type: LoadPointsFromFile
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coord_type: LIDAR
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load_dim: ${load_dim}
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use_dim: ${use_dim}
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reduce_beams: ${reduce_beams}
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load_augmented: ${load_augmented}
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-
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type: LoadPointsFromMultiSweeps
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sweeps_num: 0
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load_dim: ${load_dim}
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use_dim: ${use_dim}
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reduce_beams: ${reduce_beams}
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pad_empty_sweeps: true
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remove_close: true
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load_augmented: ${load_augmented}
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-
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type: LoadRadarPointsMultiSweeps
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load_dim: 18
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sweeps_num: ${radar_sweeps}
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use_dim: ${radar_use_dims}
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max_num: ${radar_max_points}
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compensate_velocity: ${radar_compensate_velocity}
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filtering: ${radar_filtering}
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normalize: ${radar_normalize}
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-
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type: LoadAnnotations3D
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with_bbox_3d: true
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with_label_3d: true
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with_attr_label: False
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-
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type: ObjectPaste
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stop_epoch: ${gt_paste_stop_epoch}
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db_sampler:
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dataset_root: ${dataset_root}
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info_path: ${'data/nuscenes/' + "nuscenes_dbinfos_train.pkl"}
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rate: 1.0
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prepare:
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filter_by_difficulty: [-1]
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filter_by_min_points:
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car: 5
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truck: 5
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bus: 5
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trailer: 5
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construction_vehicle: 5
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traffic_cone: 5
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barrier: 5
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motorcycle: 5
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bicycle: 5
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pedestrian: 5
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classes: ${object_classes}
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sample_groups:
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car: 2
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truck: 3
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construction_vehicle: 7
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bus: 4
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trailer: 6
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barrier: 2
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motorcycle: 6
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bicycle: 6
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pedestrian: 2
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traffic_cone: 2
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points_loader:
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type: LoadPointsFromFile
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coord_type: LIDAR
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load_dim: ${load_dim}
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use_dim: ${use_dim}
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reduce_beams: ${reduce_beams}
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-
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type: ImageAug3D
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final_dim: ${image_size}
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resize_lim: ${augment2d.resize[0]}
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bot_pct_lim: [0.0, 0.0]
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rot_lim: ${augment2d.rotate}
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rand_flip: true
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is_train: true
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-
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type: GlobalRotScaleTrans
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resize_lim: ${augment3d.scale}
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rot_lim: ${augment3d.rotate}
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trans_lim: ${augment3d.translate}
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is_train: true
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-
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type: RandomFlip3D
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-
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type: PointsRangeFilter
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point_cloud_range: ${point_cloud_range}
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-
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type: ObjectRangeFilter
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point_cloud_range: ${point_cloud_range}
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-
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type: ObjectNameFilter
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classes: ${object_classes}
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-
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type: ImageNormalize
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mean: [0.485, 0.456, 0.406]
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std: [0.229, 0.224, 0.225]
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-
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type: GridMask
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use_h: true
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use_w: true
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max_epoch: ${max_epochs}
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rotate: 1
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offset: false
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ratio: 0.5
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mode: 1
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prob: ${augment2d.gridmask.prob}
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fixed_prob: ${augment2d.gridmask.fixed_prob}
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-
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type: PointShuffle
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-
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type: DefaultFormatBundle3D
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classes: ${object_classes}
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-
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type: Collect3D
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keys:
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- img
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- points
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- radar
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- gt_bboxes_3d
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- gt_labels_3d
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meta_keys:
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- camera_intrinsics
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- camera2ego
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- lidar2ego
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- lidar2camera
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- lidar2image
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- camera2lidar
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- img_aug_matrix
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- lidar_aug_matrix
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-
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type: GTDepth
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keyframe_only: true
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test_pipeline:
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-
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type: LoadMultiViewImageFromFiles
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to_float32: true
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-
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type: LoadPointsFromFile
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coord_type: LIDAR
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load_dim: ${load_dim}
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use_dim: ${use_dim}
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reduce_beams: ${reduce_beams}
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load_augmented: ${load_augmented}
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-
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type: LoadPointsFromMultiSweeps
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sweeps_num: 9
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load_dim: ${load_dim}
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use_dim: ${use_dim}
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reduce_beams: ${reduce_beams}
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pad_empty_sweeps: true
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remove_close: true
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load_augmented: ${load_augmented}
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-
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type: LoadRadarPointsMultiSweeps
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load_dim: 18
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sweeps_num: ${radar_sweeps}
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use_dim: ${radar_use_dims}
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max_num: ${radar_max_points}
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compensate_velocity: ${radar_compensate_velocity}
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filtering: ${radar_filtering}
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normalize: ${radar_normalize}
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-
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type: LoadAnnotations3D
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with_bbox_3d: true
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with_label_3d: true
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with_attr_label: False
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-
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type: ImageAug3D
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final_dim: ${image_size}
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resize_lim: ${augment2d.resize[1]}
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bot_pct_lim: [0.0, 0.0]
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rot_lim: [0.0, 0.0]
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rand_flip: false
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is_train: false
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-
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type: GlobalRotScaleTrans
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resize_lim: [1.0, 1.0]
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rot_lim: [0.0, 0.0]
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trans_lim: 0.0
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is_train: false
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-
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type: PointsRangeFilter
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point_cloud_range: ${point_cloud_range}
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-
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type: ImageNormalize
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mean: [0.485, 0.456, 0.406]
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std: [0.229, 0.224, 0.225]
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-
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type: DefaultFormatBundle3D
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classes: ${object_classes}
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-
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type: Collect3D
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keys:
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- img
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- points
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- radar
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- gt_bboxes_3d
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- gt_labels_3d
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#- gt_masks_bev
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meta_keys:
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- camera_intrinsics
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- camera2ego
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- lidar2ego
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- lidar2camera
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- lidar2image
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- camera2lidar
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- img_aug_matrix
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- lidar_aug_matrix
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-
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type: GTDepth
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keyframe_only: true |