point_cloud_range = [-54.0, -54.0, -5.0, 54.0, 54.0, 3.0]
class_names = [
    'car', 'truck', 'construction_vehicle', 'bus', 'trailer', 'barrier',
    'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'
]
dataset_type = 'NuScenesDataset'
data_root = 'data/nuscenes/'
input_modality = dict(
    use_lidar=True,
    use_camera=True,
    use_radar=False,
    use_map=False,
    use_external=False)
img_scale = (800, 448)
num_views = 6
img_norm_cfg = dict(mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)
train_pipeline = [
    dict(
        type='LoadPointsFromFile',
        coord_type='LIDAR',
        load_dim=5,
        use_dim=[0, 1, 2, 3, 4],
    ),
    dict(
        type='LoadPointsFromMultiSweeps',
        sweeps_num=10,
        use_dim=[0, 1, 2, 3, 4],
    ),
    dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
    dict(type='LoadMultiViewImageFromFiles'),
    dict(
        type='GlobalRotScaleTrans',
        rot_range=[-0.3925 * 2, 0.3925 * 2],
        scale_ratio_range=[0.9, 1.1],
        translation_std=[0.5, 0.5, 0.5]),
    dict(
        type='RandomFlip3D',
        sync_2d=True,
        flip_ratio_bev_horizontal=0.5,
        flip_ratio_bev_vertical=0.5),
    dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
    dict(type='ObjectRangeFilter', point_cloud_range=point_cloud_range),
    dict(type='ObjectNameFilter', classes=class_names),
    dict(type='PointShuffle'),
    dict(type='MyResize', img_scale=img_scale, keep_ratio=True),
    dict(type='MyNormalize', **img_norm_cfg),
    dict(type='MyPad', size_divisor=32),
    dict(type='DefaultFormatBundle3D', class_names=class_names),
    dict(type='Collect3D', keys=['points', 'img', 'gt_bboxes_3d', 'gt_labels_3d'])
]
test_pipeline = [
    dict(
        type='LoadPointsFromFile',
        coord_type='LIDAR',
        load_dim=5,
        use_dim=[0, 1, 2, 3, 4],
    ),
    dict(
        type='LoadPointsFromMultiSweeps',
        sweeps_num=10,
        use_dim=[0, 1, 2, 3, 4],
    ),
    dict(type='LoadMultiViewImageFromFiles'),
    dict(
        type='MultiScaleFlipAug3D',
        img_scale=img_scale,
        pts_scale_ratio=1,
        flip=False,
        transforms=[
            dict(
                type='GlobalRotScaleTrans',
                rot_range=[0, 0],
                scale_ratio_range=[1.0, 1.0],
                translation_std=[0, 0, 0]),
            dict(type='RandomFlip3D'),
            dict(type='MyResize', img_scale=img_scale, keep_ratio=True),
            dict(type='MyNormalize', **img_norm_cfg),
            dict(type='MyPad', size_divisor=32),
            dict(
                type='DefaultFormatBundle3D',
                class_names=class_names,
                with_label=False),
            dict(type='Collect3D', keys=['points', 'img'])
        ])
]
data = dict(
    samples_per_gpu=2,
    workers_per_gpu=6,
    train=dict(
        type='CBGSDataset',
        dataset=dict(
            type=dataset_type,
            data_root=data_root,
            num_views=num_views,
            ann_file=data_root + '/nuscenes_infos_train.pkl',
            load_interval=1,
            pipeline=train_pipeline,
            classes=class_names,
            modality=input_modality,
            test_mode=False,
            box_type_3d='LiDAR')),
    val=dict(
        type=dataset_type,
        data_root=data_root,
        num_views=num_views,
        ann_file=data_root + '/nuscenes_infos_val.pkl',
        load_interval=1,
        pipeline=test_pipeline,
        classes=class_names,
        modality=input_modality,
        test_mode=True,
        box_type_3d='LiDAR'),
    test=dict(
        type=dataset_type,
        data_root=data_root,
        num_views=num_views,
        ann_file=data_root + '/nuscenes_infos_val.pkl',
        # ann_file=data_root + '/nuscenes_infos_test.pkl',
        load_interval=1,
        pipeline=test_pipeline,
        classes=class_names,
        modality=input_modality,
        test_mode=True,
        box_type_3d='LiDAR'))