| _base_ = ['./cenet-64x512_4xb4_semantickitti.py'] | |
| backend_args = None | |
| train_pipeline = [ | |
| dict( | |
| type='LoadPointsFromFile', | |
| coord_type='LIDAR', | |
| load_dim=4, | |
| use_dim=4, | |
| backend_args=backend_args), | |
| dict( | |
| type='LoadAnnotations3D', | |
| with_bbox_3d=False, | |
| with_label_3d=False, | |
| with_seg_3d=True, | |
| seg_3d_dtype='np.int32', | |
| seg_offset=2**16, | |
| dataset_type='semantickitti', | |
| backend_args=backend_args), | |
| dict(type='PointSegClassMapping'), | |
| dict(type='PointSample', num_points=0.9), | |
| dict( | |
| type='RandomFlip3D', | |
| sync_2d=False, | |
| flip_ratio_bev_horizontal=0.5, | |
| flip_ratio_bev_vertical=0.5), | |
| dict( | |
| type='GlobalRotScaleTrans', | |
| rot_range=[-3.1415929, 3.1415929], | |
| scale_ratio_range=[0.95, 1.05], | |
| translation_std=[0.1, 0.1, 0.1], | |
| ), | |
| dict( | |
| type='SemkittiRangeView', | |
| H=64, | |
| W=1024, | |
| fov_up=3.0, | |
| fov_down=-25.0, | |
| means=(11.71279, -0.1023471, 0.4952, -1.0545, 0.2877), | |
| stds=(10.24, 12.295865, 9.4287, 0.8643, 0.1450), | |
| ignore_index=19), | |
| dict(type='Pack3DDetInputs', keys=['img', 'gt_semantic_seg']) | |
| ] | |
| test_pipeline = [ | |
| dict( | |
| type='LoadPointsFromFile', | |
| coord_type='LIDAR', | |
| load_dim=4, | |
| use_dim=4, | |
| backend_args=backend_args), | |
| dict( | |
| type='LoadAnnotations3D', | |
| with_bbox_3d=False, | |
| with_label_3d=False, | |
| with_seg_3d=True, | |
| seg_3d_dtype='np.int32', | |
| seg_offset=2**16, | |
| dataset_type='semantickitti', | |
| backend_args=backend_args), | |
| dict(type='PointSegClassMapping'), | |
| dict( | |
| type='SemkittiRangeView', | |
| H=64, | |
| W=1024, | |
| fov_up=3.0, | |
| fov_down=-25.0, | |
| means=(11.71279, -0.1023471, 0.4952, -1.0545, 0.2877), | |
| stds=(10.24, 12.295865, 9.4287, 0.8643, 0.1450), | |
| ignore_index=19), | |
| dict( | |
| type='Pack3DDetInputs', | |
| keys=['img'], | |
| meta_keys=('proj_x', 'proj_y', 'proj_range', 'unproj_range')) | |
| ] | |
| train_dataloader = dict(dataset=dict(pipeline=train_pipeline)) | |
| val_dataloader = dict(dataset=dict(pipeline=test_pipeline)) | |
| test_dataloader = val_dataloader | |