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config.yaml
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config.yaml
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SIMULATOR:
SECTOR_SIZE: 180
LIMIT_FOV: True # labeling 90° point cloud frame or 360°
GROUND_REMOVAL:
VOXEL_SIZE: 0.1
RANSAC_N: 3
DISTANCE_THRESHOLD: 0.1
NUM_ITERATIONS: 1000
NS3:
ENABLE: True
SYNC_TIME: 0.5
RECEIVER_ID: &RECEIVER_ID 7 # ns3 node id, start by 0, if use the unicast method, the receiver id must be set
SEND_STOP_SIGNAL: True
LU:
ENABLE: True
WIFI_MODE: OfdmRate27MbpsBW10MHz # http://louismannsysu.blogspot.com/2015/02/ns3-wifi-phy-data-rate-mode.html
CAST_METHOD: unicast # [broadcast, unicast]
PACKET_SIZE: 100 # bytes
TIME_OFFSET: -0.05
PU:
ENABLE: True
WIFI_MODE: OfdmRate27MbpsBW10MHz # http://louismannsysu.blogspot.com/2015/02/ns3-wifi-phy-data-rate-mode.html
CAST_METHOD: unicast # [broadcast, unicast]
PACKET_SIZE: 1206 # bytes
PACKET_MODE: 2 # 1: fixed size, 2: ground removal + compression
CR:
ENABLE: True
WIFI_MODE: OfdmRate27MbpsBW10MHz # http://louismannsysu.blogspot.com/2015/02/ns3-wifi-phy-data-rate-mode.html
CAST_METHOD: unicast # [broadcast, unicast]
PACKET_SIZE: 100 # bytes
TIME_OFFSET: 0.05
ZMQ:
SEND_POSITION: tcp://127.0.0.1:5557
SEND_CP: tcp://127.0.0.1:5558
RECV_RESULT: tcp://127.0.0.1:5559
CARLA_CONFIG:
FPS: 10
NUM_OF_VEHICLES: 100
NUM_OF_WALKERS: 0
VEHICLE:
BLUEPRINTS: Car
#https://carla.readthedocs.io/en/latest/bp_library/
SKIP_EMPTY: False
VEHICLE_SPAWN_POINT_DISTANCE: 5 # Filter the spawn points of near the agent vehicle
AGENT_VEHICLE_SPAWN_POINT_DISTANCE: &AGENT_VEHICLE_SPAWN_POINT_DISTANCE 30
SAVE_CONFIG:
IS_SAVE:
CALIB: True
CARLA_LABEL: True
IMAGE_2: True
IMAGE_LABEL_2: True
LABEL_2: True
LOCATION: True
PLANES: True
PLY: True
SEMANTIC3D: True
VELODYNE: True
FG_LIDAR: True
VELODYNE_GROUND_REMOVAL: True
VELODYNE_COMPRESSION: True
PACKET: True
ROOT_PATH: output
STEP: 1
FILTER_CONFIG:
PRELIMINARY_FILTER_DISTANCE: 120
MAX_RENDER_DEPTH_IN_METERS: 120
MIN_VISIBLE_VERTICES_FOR_RENDER: 2
MAX_OUT_VERTICES_FOR_RENDER: 6
MIN_BBOX_AREA_IN_PX: 100 #2D BBOX MUST MORE THAN THIS VALUE
MAX_OCCLUDED: 0.8
MIN_OBJECT_POINT_COUNT: 50
CATCH_ENVIRONMENT_OBJECT: False
CATCH_ACTOR: True
RGB:
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375}
DEPTH_RGB:
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375}
LIDAR:
TRANSFORM: {location: [0, 0, 1.6 ]}
ATTRIBUTE: {rotation_frequency: 10}
BLUEPRINTS:
Car: ["vehicle.audi.a2","vehicle.audi.etron","vehicle.audi.tt","vehicle.bmw.grandtourer","vehicle.chevrolet.impala","vehicle.citroen.c3","vehicle.dodge.charger_2020","vehicle.dodge.charger_police","vehicle.ford.mustang","vehicle.jeep.wrangler_rubicon","vehicle.lincoln.mkz_2017","vehicle.lincoln.mkz_2020","vehicle.mercedes.coupe","vehicle.mercedes.coupe_2020","vehicle.mini.cooper_s","vehicle.mini.cooper_s_2021","vehicle.nissan.micra","vehicle.nissan.patrol","vehicle.nissan.patrol_2021","vehicle.seat.leon","vehicle.tesla.model3","vehicle.toyota.prius"]
Van: ["vehicle.carlamotors.carlacola","vehicle.ford.ambulance","vehicle.mercedes.sprinter","vehicle.volkswagen.t2"]
Truck: ["vehicle.carlamotors.firetruck","vehicle.tesla.cybertruck"]
Pedestrian: ["vehicle.bh.crossbike","vehicle.diamondback.century","vehicle.gazelle.omafiets","vehicle.harley-davidson.low_rider","vehicle.kawasaki.ninja","vehicle.vespa.zx125","vehicle.yamaha.yzf"]
EDGE_SERVER_CONFIG:
EDGE_SERVER_1:
ID: *RECEIVER_ID # ns3 node id, start by 0
LOCATION: &EDGE_SERVER_LOCATION [-64, 20.33, 0.0] # [-94.92, 20.33, 0.005]
DSRC_WIFI_NODE:
ENABLE: False
WIDTH: 120
INTERAL: 20
STATIONARY_VEHICLE_CONFIG:
V1:
ENABLE: True
TRANSFORM: {location: [-25.7, 13.3, 0.5], rotation: [0, 180, 0]}
BLUEPRINT: vehicle.lincoln.*
AGENT_CONFIG:
# Supports different ways to initialize the location of vehicle:
# TRANSFORM: {location: [-25.7, 13.3, 0.5], rotation: [0, 180, 0]} # Fixed spawn point, you can use manual_control.py to find the vehicle spawn point
# TRANSFORM: {random: [-23.50, 16.62, 0.5], distance: 30} # Randomly choose a spawn point based on origin location and radius
# TRANSFORM: random # Randomly select spawn point
training:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG: # !!!sensor order can't change!!!!
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
CAR2:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG:
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
CAR3:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG:
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
CAR4:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG:
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
CAR5:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG:
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
CAR6:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG:
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
CAR7:
ENABLE: True
AUTOPILOT: True
TRANSFORM: {random: *EDGE_SERVER_LOCATION, distance: *AGENT_VEHICLE_SPAWN_POINT_DISTANCE}
BLUEPRINT: vehicle.lincoln.*
SENSOR_CONFIG:
RGB:
TRANSFORM: {location: [0, 0, 1.6], rotation: [0, 0, 0]}
BLUEPRINT: sensor.camera.rgb
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
DEPTH_RGB:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.camera.depth
ATTRIBUTE: {image_size_x: 1242, image_size_y: 375, fov: 90}
LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8, atmosphere_attenuation_rate: 0.004, noise_stddev: 0.0, dropoff_general_rate: 0.028, dropoff_zero_intensity: 0.0, dropoff_intensity_limit: 0.0}
SEMANTIC_LIDAR:
TRANSFORM: {location: [ 0, 0, 1.6 ], rotation: [ 0, 0, 0 ]}
BLUEPRINT: sensor.lidar.ray_cast_semantic
ATTRIBUTE: {range: 120, channels: 64, points_per_second: 1280000, rotation_frequency: 10, upper_fov: 10.0, lower_fov: -16.8}
STATIC_VEHICLE_1: # static vehicle and does not capture sensor data
ENABLE: True
AUTOPILOT: False
TRANSFORM: {location: [-41.7, 43.5, 0.5], rotation: [0, 0, -90]}
BLUEPRINT: vehicle.carlamotors.firetruck