| # 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" | |