| # 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 |