Add File

2025-09-21 20:19:49 +08:00
parent bfc3767a97
commit 273734d47e
1 changed files with 89 additions and 0 deletions
--- a/tools/cfgs/dataset_configs/waymo_dataset_multiframe.yaml
+++ b/tools/cfgs/dataset_configs/waymo_dataset_multiframe.yaml
@@ -0,0 +1,89 @@
+DATASET: 'WaymoDataset'
+DATA_PATH: '../data/waymo'
+PROCESSED_DATA_TAG: 'waymo_processed_data_v0_5_0'
+
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+
+SAMPLED_INTERVAL: {
+    'train': 5,
+    'test': 1
+}
+
+FILTER_EMPTY_BOXES_FOR_TRAIN: True
+DISABLE_NLZ_FLAG_ON_POINTS: True
+
+USE_SHARED_MEMORY: False  # it will load the data to shared memory to speed up (DO NOT USE IT IF YOU DO NOT FULLY UNDERSTAND WHAT WILL HAPPEN)
+SHARED_MEMORY_FILE_LIMIT: 35000  # set it based on the size of your shared memory
+
+SEQUENCE_CONFIG:
+    ENABLED: True
+    SAMPLE_OFFSET: [-3, 0]
+    
+TRAIN_WITH_SPEED: True 
+
+
+DATA_AUGMENTOR:
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+        - NAME: gt_sampling
+          USE_ROAD_PLANE: False
+          DB_INFO_PATH:
+              - waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl
+
+          USE_SHARED_MEMORY: False  # set it to True to speed up (it costs about 50GB? shared memory)
+          DB_DATA_PATH:
+              - waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.npy
+
+          PREPARE: {
+             filter_by_min_points: ['Vehicle:5', 'Pedestrian:5', 'Cyclist:5'],
+             filter_by_difficulty: [-1],
+          }
+
+          SAMPLE_GROUPS: ['Vehicle:15', 'Pedestrian:10', 'Cyclist:10']
+          NUM_POINT_FEATURES: 6
+          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+          LIMIT_WHOLE_SCENE: True
+
+          FILTER_OBJ_POINTS_BY_TIMESTAMP: True 
+          TIME_RANGE: [0.3, 0.0]  # 0.3s-0.0s indicates 4 frames 
+
+        - 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', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'elongation', 'timestamp'],
+}
+
+
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+      USE_CENTER_TO_FILTER: 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': 180000,
+        'test': 400000
+      }