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config.yaml
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exp:
cudnn: True
path: /mnt/data2/skewen/kittiGenerator/output/test_False_1_1_140_0_100/object/training
train_path: /mnt/data2/skewen/kittiGenerator/output/20230203_20_1_50_0_10000/object/training
sector_size: §or_size 180
point_count: &point_count -1
packet_loss_rates: &packet_loss_rates [0.2]
lidar_range: &lidar_range 120
lidar_coordinate: &lidar_coordinate [0, 0, 0]
azimuth_size: &azimuth_size 2000
channel_size: &channel_size 64
v_fov: &v_fov 26.8
v_fov_start: &v_fov_start -16.8
v_fov_end: &v_fov_end 10.0
h_fov: &h_fov 360.0
h_fov_start: &h_fov_start 0.0
h_fov_end: &h_fov_end 360.0
angular_resolution: &angular_resolution 0.18
pre_process: # Use to generate incomplete point cloud
process:
generation:
enable: True
sector_size: *sector_size
packet_loss_rates: *packet_loss_rates
ge_model_flag: True
source_mac: 0 #!!!!
receive_mac: 1 #!!!!
save_dir: cache_frame/receiver_none_{}
ground_removal:
enable: False
voxel_size: 0.1
ransac_n: 3
distance_threshold: 0.1
num_iterations: 1000
save_dir: velodyne_ground_removal
compression:
enable: False
save_dir: velodyne_compression
temporal_prediction:
process:
copyover_prediction:
enable: True
recursion: True
point_count: *point_count
sector_size: *sector_size
motion_compensated_prediction:
enable: True
recursion: True
point_count: *point_count
sector_size: *sector_size
thread:
# doing multi-thread stitching
single:
# doing single stitching
# closest_spatial:
# enable: True
# recursion: True
# point_count: *point_count
# sector_size: *sector_size
# align_location: True
# align_rotation: True
# # max_frame_gap: 10
# max_sector_gap: 20
# lidar_range: *lidar_range
# v_fov: *v_fov # angle of view
# interval: 6
# is_exp_interval: False
# closest_both:
# enable: False
# recursion: True
# point_count: *point_count
# sector_size: *sector_size
# align_location: True
# align_rotation: True
# # max_frame_gap: 10
# max_sector_gap: 20
# lidar_range: *lidar_range
# v_fov: *v_fov # angle of view
# weight: 0.7
# interval: 3
# is_exp_weight: False
spatial_interpolation:
process:
nearest_neighbor:
enable: True
point_count: *point_count
lidar_range: *lidar_range
lidar_coordinate: *lidar_coordinate
azimuth_size: *azimuth_size
channel_size: *channel_size
v_fov: *v_fov
v_fov_start: *v_fov_start
v_fov_end: *v_fov_end
h_fov: *h_fov
h_fov_start: *h_fov_start
h_fov_end: *h_fov_end
angular_resolution: *angular_resolution
least_square:
enable: True
point_count: *point_count
lidar_range: *lidar_range
lidar_coordinate: *lidar_coordinate
azimuth_size: *azimuth_size
channel_size: *channel_size
v_fov: *v_fov
v_fov_start: *v_fov_start
v_fov_end: *v_fov_end
h_fov: *h_fov
h_fov_start: *h_fov_start
h_fov_end: *h_fov_end
angular_resolution: *angular_resolution
# ridge_regression:
# enable: False
# point_count: *point_count
# lidar_range: *lidar_range
# lidar_coordinate: *lidar_coordinate
# azimuth_size: *azimuth_size
# channel_size: *channel_size
# v_fov: *v_fov
# v_fov_start: *v_fov_start
# v_fov_end: *v_fov_end
# h_fov: *h_fov
# h_fov_start: *h_fov_start
# h_fov_end: *h_fov_end
# angular_resolution: *angular_resolution
# maximum_likelihood:
# enable: False
# lidar_range: *lidar_range
# lidar_coordinate: *lidar_coordinate
# azimuth_size: *azimuth_size
# channel_size: *channel_size
# v_fov: *v_fov
# v_fov_start: *v_fov_start
# v_fov_end: *v_fov_end
# h_fov: *h_fov
# h_fov_start: *h_fov_start
# h_fov_end: *h_fov_end
# angular_resolution: *angular_resolution
# lasso:
# enable: False
# lidar_range: *lidar_range
# lidar_coordinate: *lidar_coordinate
# azimuth_size: *azimuth_size
# channel_size: *channel_size
# v_fov: *v_fov
# v_fov_start: *v_fov_start
# v_fov_end: *v_fov_end
# h_fov: *h_fov
# h_fov_start: *h_fov_start
# h_fov_end: *h_fov_end
# angular_resolution: *angular_resolution
thread:
# doing multi-thread stitching
single:
# doing single stitching
temporal_interpolation:
process:
# none:
# enable: False
# point_count: *point_count
# sector_size: *sector_size
# identity:
# enable: False
# point_count: *point_count
# sector_size: *sector_size
point_matching:
enable: True
point_count: *point_count
sector_size: *sector_size
k: 1
# triangular:
# enable: False
# point_count: *point_count
# sector_size: *sector_size
# k: 3
thread:
# doing multi-thread interpolation
single:
iterative_closest_point:
enable: True
point_count: *point_count
sector_size: *sector_size
voxel_size: 0.75
scene_flow:
enable: True
point_count: *point_count
sector_size: *sector_size
step_t: 0.5
model_path: PointINet/pretrain_model/interp_kitti.pth
flow_model_path: PointINet/pretrain_model/flownet3d_kitti_odometry_maxbias1.pth
sampling_type: 1
remove_outlier: False
bidirectional_scene_flow:
enable: True
point_count: *point_count
sector_size: *sector_size
step_t: 0.5
model_path: PointINet/pretrain_model/interp_kitti.pth
flow_model_path: PointINet/pretrain_model/flownet3d_kitti_odometry_maxbias1.pth
sampling_type: 1
remove_outlier: False
lidar_error_concealment_optimal:
enable: True
recursion: True
point_count: *point_count
sector_size: *sector_size
lidar_range: *lidar_range
lidar_coordinate: *lidar_coordinate
azimuth_size: *azimuth_size
channel_size: *channel_size
v_fov: *v_fov
v_fov_start: *v_fov_start
v_fov_end: *v_fov_end
h_fov: *h_fov
h_fov_start: *h_fov_start
h_fov_end: *h_fov_end
angular_resolution: *angular_resolution
step_t: 0.5
model_path: PointINet/pretrain_model/interp_kitti.pth
flow_model_path: PointINet/pretrain_model/flownet3d_kitti_odometry_maxbias1.pth
decision_model_path: model/lec.npy
sampling_type: 1
remove_outlier: False
threshold_based_lidar_error_concealment:
enable: True
recursion: True
point_count: *point_count
sector_size: *sector_size
threadhold_tp_list: [0.6] #0.2, 0.4, 0.6, 0.8, 1.0
threadhold_tn_list: [0.5] #0.2, 0.3, 0.4, 0.5, 0.6
lidar_range: *lidar_range
lidar_coordinate: *lidar_coordinate
azimuth_size: *azimuth_size
channel_size: *channel_size
v_fov: *v_fov
v_fov_start: *v_fov_start
v_fov_end: *v_fov_end
h_fov: *h_fov
h_fov_start: *h_fov_start
h_fov_end: *h_fov_end
angular_resolution: *angular_resolution
step_t: 0.5
model_path: PointINet/pretrain_model/interp_kitti.pth
flow_model_path: PointINet/pretrain_model/flownet3d_kitti_odometry_maxbias1.pth
sampling_type: 1
remove_outlier: False
lidar_error_concealment:
enable: True
recursion: True
point_count: *point_count
sector_size: *sector_size
lidar_range: *lidar_range
lidar_coordinate: *lidar_coordinate
azimuth_size: *azimuth_size
channel_size: *channel_size
v_fov: *v_fov
v_fov_start: *v_fov_start
v_fov_end: *v_fov_end
h_fov: *h_fov
h_fov_start: *h_fov_start
h_fov_end: *h_fov_end
angular_resolution: *angular_resolution
step_t: 0.5
model_path: PointINet/pretrain_model/interp_kitti.pth
flow_model_path: PointINet/pretrain_model/flownet3d_kitti_odometry_maxbias1.pth
decision_model_path: model/lec.npy
sampling_type: 1
remove_outlier: False
evaluation:
gt_dir: velodyne_compression
sector_size: *sector_size
snn_rmse: False
running_time: True
acd: False
cd: True
cd_psnr: False
hd: True
emd: False