| _base_ = [ | |
| '../_base_/datasets/semantickitti.py', '../_base_/models/cylinder3d.py', | |
| '../_base_/schedules/schedule-3x.py', '../_base_/default_runtime.py' | |
| ] | |
| train_pipeline = [ | |
| dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4), | |
| 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'), | |
| dict(type='PointSegClassMapping'), | |
| dict( | |
| type='RandomChoice', | |
| transforms=[ | |
| [ | |
| dict( | |
| type='LaserMix', | |
| num_areas=[3, 4, 5, 6], | |
| pitch_angles=[-25, 3], | |
| pre_transform=[ | |
| dict( | |
| type='LoadPointsFromFile', | |
| coord_type='LIDAR', | |
| load_dim=4, | |
| use_dim=4), | |
| 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'), | |
| dict(type='PointSegClassMapping') | |
| ], | |
| prob=1) | |
| ], | |
| [ | |
| dict( | |
| type='PolarMix', | |
| instance_classes=[0, 1, 2, 3, 4, 5, 6, 7], | |
| swap_ratio=0.5, | |
| rotate_paste_ratio=1.0, | |
| pre_transform=[ | |
| dict( | |
| type='LoadPointsFromFile', | |
| coord_type='LIDAR', | |
| load_dim=4, | |
| use_dim=4), | |
| 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'), | |
| dict(type='PointSegClassMapping') | |
| ], | |
| prob=1) | |
| ], | |
| ], | |
| prob=[0.5, 0.5]), | |
| dict( | |
| type='GlobalRotScaleTrans', | |
| rot_range=[0., 6.28318531], | |
| scale_ratio_range=[0.95, 1.05], | |
| translation_std=[0, 0, 0], | |
| ), | |
| dict(type='Pack3DDetInputs', keys=['points', 'pts_semantic_mask']) | |
| ] | |
| train_dataloader = dict(dataset=dict(pipeline=train_pipeline)) | |
| default_hooks = dict(checkpoint=dict(type='CheckpointHook', interval=1)) | |