File size: 3,881 Bytes
da182ae |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 |
# This file is covered by the LICENSE file in the root of this project.
nbr_classes: 11
grid_dims: [256, 32, 256] # (W, H, D)
labels:
10: "car"
11: "bicycle"
13: "bus"
15: "motorcycle"
18: "truck"
20: "other-vehicle"
30: "person"
40: "road"
48: "sidewalk"
49: "other-ground"
50: "building"
70: "vegetation"
90: "other-object"
99: "other-object2"
color_map: # bgr
10: [245, 150, 100]
11: [245, 230, 100]
13: [250, 80, 100]
15: [150, 60, 30]
18: [180, 30, 80]
20: [255, 0, 0]
30: [30, 30, 255]
40: [255, 0, 255]
48: [75, 0, 75]
49: [75, 0, 175]
50: [0, 200, 255]
70: [0, 175, 0]
90: [255, 255, 50]
99: [255, 255, 50]
content: # as a ratio with the total number of points
0: 1.98785873e-01
10: 5.77638478e-04
11: 3.68250377e-06
15: 5.21755341e-06
18: 1.86707793e-04
20: 2.22423703e-04
30: 5.49772336e-05
40: 8.65070320e-03
48: 1.93335044e-03
49: 1.73705954e-04
50: 4.92616008e-03
70: 4.89254452e-03
99: 2.43197941e-05
# classes that are indistinguishable from single scan or inconsistent in
# ground truth are mapped to their closest equivalent
# learning_map:
# 10: 1 # "car"
# 11: 2 # "bicycle"
# 13: 5 # "bus" mapped to "other-vehicle" --------------------------mapped
# 15: 3 # "motorcycle"
# 18: 4 # "truck"
# 20: 5 # "other-vehicle"
# 30: 6 # "person"
# 40: 7 # "road"
# 48: 8 # "sidewalk"
# 49: 9 # "other-ground"
# 50: 10 # "building"
# 70: 11 # "vegetation"
# 71: 0 # "trunk"
# 99: 12 # "other-object"
# 255: 0 # "moving-motorcyclist" to "unlabeled" ------------------mapped
# learning_map_inv: # inverse of previous map
# 0: 0 # "unlabeled", and others ignored
# 1: 10 # "car"
# 2: 11 # "bicycle"
# 3: 15 # "motorcycle"
# 4: 18 # "truck"
# 5: 20 # "other-vehicle"
# 6: 30 # "person"
# 7: 40 # "road"
# 8: 48 # "sidewalk"
# 9: 49 # "other-ground"
# 10: 50 # "building"
# 11: 70 # "vegetation"
# 12: 99 # "other-object"
# learning_ignore: # Ignore classes
# 0: True # "unlabeled", and others ignored
# 1: False # "car"
# 2: False # "bicycle"
# 3: False # "motorcycle"
# 4: False # "truck"
# 5: False # "other-vehicle"
# 6: False # "person"
# 7: False # "road"
# 8: False # "sidewalk"
# 9: False # "other-ground"
# 10: False # "building"
# 11: False # "vegetation"
# 12: False # "other-object"
learning_map:
10: 1 # "car"
11: 2 # "bicycle"
13: 1 # "bus" mapped to "car" --------------------------mapped
15: 3 # "motorcycle"
18: 1 # "truck" mapped to "car" --------------------------mapped
20: 1 # "other-vehicle" mapped to "car" --------------------------mapped
30: 4 # "person"
40: 5 # "road"
48: 6 # "sidewalk"
49: 7 # "other-ground"
50: 8 # "building"
70: 9 # "vegetation"
71: 9 # "trunk" mapped to "vegetation" --------------------------mapped
90: 10 # "other-object"
99: 10 # "other-object"
255: 0 # "moving-motorcyclist" to "unlabeled" ------------------mapped
learning_map_inv: # inverse of previous map
0: 0 # "unlabeled", and others ignored
1: 10 # "car"
2: 11 # "bicycle"
3: 15 # "motorcycle"
4: 30 # "person"
5: 40 # "road"
6: 48 # "sidewalk"
7: 49 # "other-ground"
8: 50 # "building"
9: 70 # "vegetation"
10: 99 # "other-object"
learning_ignore: # Ignore classes
0: True # "unlabeled", and others ignored
1: False # "car"
2: False # "bicycle"
3: False # "motorcycle"
4: False # "person"
5: False # "road"
6: False # "sidewalk"
7: False # "other-ground"
8: False # "building"
9: False # "vegetation"
10: False # "other-object"
|