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configs/nuscenes.yaml

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+# 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"

configs/waymo.yaml

@@ -0,0 +1,247 @@
+# This file is covered by the LICENSE file in the root of this project.
+
+nbr_classes: 15
+learning_map:
+  0 : 0     # "unlabeled"
+  1 : 0     # "outlier" mapped to "unlabeled" --------------------------mapped
+  10: 1     # "car"
+  11: 2     # "bicycle"
+  13: 1     # "bus"
+  15: 3     # "motorcycle"
+  16: 1     # "on-rails" mapped to "other-vehicle" ---------------------mapped
+  18: 1     # "truck"
+  20: 1     # "other-vehicle"
+  30: 4     # "person"
+  31: 5     # "bicyclist"
+  32: 5     # "motorcyclist"
+  40: 6     # "road"
+  44: 0    # "parking" ---ignore
+  48: 7    # "sidewalk"
+  49: 8   # "other-ground"
+  50: 9    # "building"
+  51: 0    # "fence" ---ignore
+  52: 0     # "other-structure" ---ignore
+  60: 6     # "lane-marking" mapped to "road"
+  70: 10    # "vegetation"
+  71: 11    # "trunk"
+  72: 0    # "terrain" ---ignore
+  80: 12    # "pole"
+  81: 13    # "traffic-sign"
+  99: 14     # "other-object"
+  252: 1    # "moving-car" to "car" ------------------------------------mapped
+  253: 5    # "moving-bicyclist" to "bicyclist" ------------------------mapped
+  254: 4    # "moving-person" to "person" ------------------------------mapped
+  255: 5    # "moving-motorcyclist" to "motorcyclist" ------------------mapped
+  256: 1    # "moving-on-rails" mapped to "other-vehicle" --------------mapped
+  257: 1    # "moving-bus" mapped to "bus" -------------------mapped
+  258: 1    # "moving-truck" to "truck" --------------------------------mapped
+  259: 1    # "moving-other"-vehicle to "other-vehicle" ----------------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: 31     # "bicyclist" + "motorcyclist"
+  6: 40    # "road" + "lane marking"
+  7: 48    # "sidewalk"
+  8: 49    # "other-ground"
+  9: 50    # "building"
+  10: 70    # "vegetation"
+  11: 71    # "trunk"
+  12: 80    # "pole"
+  13: 81    # "traffic-sign"
+  14: 99    # "other-object"
+learning_ignore: # Ignore classes
+  0: True      # "unlabeled", and others ignored
+  1: False     
+  2: False     
+  3: False     
+  4: False    
+  5: False     
+  6: False     
+  7: False    
+  8: False    
+  9: False   
+  10: False  
+  11: False   
+  12: False   
+  13: False  
+  14: False  
+
+
+#UNIFIED
+# nbr_classes: 11
+# learning_map:
+#   0 : 0     # "unlabeled"
+#   1 : 0     # "outlier" mapped to "unlabeled" --------------------------mapped
+#   10: 1     # "car"
+#   11: 2     # "bicycle"
+#   13: 1     # "bus"
+#   15: 3     # "motorcycle"
+#   16: 1     # "on-rails" mapped to "other-vehicle" ---------------------mapped
+#   18: 1     # "truck"
+#   20: 1     # "other-vehicle"
+#   30: 4     # "person"
+#   31: 0     # "bicyclist" mapped to "unlabeled" --------------------------mapped
+#   32: 0     # "motorcyclist" mapped to "unlabeled" --------------------------mapped
+#   40: 5     # "road"
+#   44: 0    # "parking" ---ignore
+#   48: 6    # "sidewalk"
+#   49: 7   # "other-ground"
+#   50: 8    # "building"
+#   51: 0    # "fence" ---ignore
+#   52: 0     # "other-structure" ---ignore
+#   60: 6     # "lane-marking" mapped to "road" --------------------------mapped
+#   70: 9    # "vegetation"
+#   71: 9    # "trunk" mapped to "vegetation" --------------------------mapped
+#   72: 0    # "terrain" ---ignore
+#   80: 10    # "pole" mapped to "other obejct" --------------------------mapped
+#   81: 10    # "traffic-sign" mapped to "other object" --------------------------mapped
+#   99: 10     # "other-object"
+#   252: 1    # "moving-car" to "car" ------------------------------------mapped
+#   253: 0    # "moving-bicyclist" to "unlabeled" ------------------------mapped
+#   254: 4    # "moving-person" to "person" ------------------------------mapped
+#   255: 0    # "moving-motorcyclist" to "unlabeled" ------------------mapped
+#   256: 1    # "moving-on-rails" mapped to "car" --------------mapped
+#   257: 1    # "moving-bus" mapped to "car" -------------------mapped
+#   258: 1    # "moving-truck" to "car" --------------------------------mapped
+#   259: 1    # "moving-other"-vehicle to "car" ----------------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     
+#   2: False     
+#   3: False     
+#   4: False    
+#   5: False     
+#   6: False     
+#   7: False    
+#   8: False    
+#   9: False   
+#   10: False    
+
+
+
+
+
+
+grid_dims: [256, 32, 256]  # (W, H, D)
+labels:
+  0 : "unlabeled"
+  1 : "outlier"
+  10: "car"
+  11: "bicycle"
+  13: "bus"
+  15: "motorcycle"
+  16: "on-rails"
+  18: "truck"
+  20: "other-vehicle"
+  30: "person"
+  31: "bicyclist"
+  32: "motorcyclist"
+  40: "road"
+  44: "parking"
+  48: "sidewalk"
+  49: "other-ground"
+  50: "building"
+  51: "fence"
+  52: "other-structure"
+  60: "lane-marking"
+  70: "vegetation"
+  71: "trunk"
+  72: "terrain"
+  80: "pole"
+  81: "traffic-sign"
+  99: "other-object"
+  252: "moving-car"
+  253: "moving-bicyclist"
+  254: "moving-person"
+  255: "moving-motorcyclist"
+  256: "moving-on-rails"
+  257: "moving-bus"
+  258: "moving-truck"
+  259: "moving-other-vehicle"
+color_map: # bgr
+  0 : [0, 0, 0]
+  1 : [0, 0, 255]
+  10: [245, 150, 100]
+  11: [245, 230, 100]
+  13: [250, 80, 100]
+  15: [150, 60, 30]
+  16: [255, 0, 0]
+  18: [180, 30, 80]
+  20: [255, 0, 0]
+  30: [30, 30, 255]
+  31: [200, 40, 255]
+  32: [90, 30, 150]
+  40: [255, 0, 255]
+  44: [255, 150, 255]
+  48: [75, 0, 75]
+  49: [75, 0, 175]
+  50: [0, 200, 255]
+  51: [50, 120, 255]
+  52: [0, 150, 255]
+  60: [170, 255, 150]
+  70: [0, 175, 0]
+  71: [0, 60, 135]
+  72: [80, 240, 150]
+  80: [150, 240, 255]
+  81: [0, 0, 255]
+  99: [255, 255, 50]
+  252: [245, 150, 100]
+  256: [255, 0, 0]
+  253: [200, 40, 255]
+  254: [30, 30, 255]
+  255: [90, 30, 150]
+  257: [250, 80, 100]
+  258: [180, 30, 80]
+  259: [255, 0, 0]
+content: # as a ratio with the total number of points
+  0: 0.018889854628292943
+  1: 0.0002937197336781505
+  10: 0.040818519255974316
+  11: 0.00016609538710764618
+  13: 2.7879693665067774e-05
+  15: 0.00039838616015114444
+  16: 0.0
+  18: 0.0020633612104619787
+  20: 0.0016218197275284021
+  30: 0.00017698551338515307
+  31: 1.1065903904919655e-08
+  32: 5.532951952459828e-09
+  40: 0.1987493871255525
+  44: 0.014717169549888214
+  48: 0.14392298360372
+  49: 0.0039048553037472045
+  50: 0.1326861944777486
+  51: 0.0723592229456223
+  52: 0.002395131480328884
+  60: 4.7084144280367186e-05
+  70: 0.26681502148037506
+  71: 0.006035012012626033
+  72: 0.07814222006271769
+  80: 0.002855498193863172
+  81: 0.0006155958086189918
+  99: 0.009923127583046915
+  252: 0.001789309418528068
+  253: 0.00012709999297008662
+  254: 0.00016059776092534436
+  255: 3.745553104802113e-05
+  256: 0.0
+  257: 0.00011351574470342043
+  258: 0.00010157861367183268
+  259: 4.3840131989471124e-05
+# classes that are indistinguishable from single scan or inconsistent in
+# ground truth are mapped to their closest equivalent