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tools/cfgs/dataset_configs/waymo_dataset.yaml

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+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
+
+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.pkl
+
+          USE_SHARED_MEMORY: False  # set it to True to speed up (it costs about 15GB shared memory)
+          DB_DATA_PATH:
+              - waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy
+
+          BACKUP_DB_INFO:
+              # if the above DB_INFO cannot be found, will use this backup one
+              DB_INFO_PATH: waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl
+              DB_DATA_PATH: waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.npy
+              NUM_POINT_FEATURES: 6
+
+          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: 5
+          REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+          LIMIT_WHOLE_SCENE: True
+
+        - 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': 150000,
+        'test': 150000
+      }