mapper/conf/data/kitti.yaml

name: kitti
seam_root_dir: /path/to/generated/seam
dataset_root_dir: /path/to/kitti/dataset
bev_percentage: 100
pixel_per_meter: 2
crop_size_meters: 50
target_focal_length: 256
resize_image: null
pad_to_multiple: 14
num_classes: 8
loading:
  train:
    batch_size: 32
    num_workers: 32
  val:
    batch_size: 32
    num_workers: 32
  test:
    batch_size: 32
    num_workers: 32
pad_to_square: true
rectify_pitch: true
gravity_align: false
class_mapping: [0, 0, 1, 2, 0, 3]
augmentations:
    enabled: True
    brightness: 0.5
    contrast: 0.5
    saturation: 0.5
    random_flip: 0.5
    hue: 0.5
    random_resized_crop: False  
    gaussian_noise:
        enabled: False
        mean: 0.0
        std: 0.1
    brightness_contrast:
        enabled: True
        brightness_factor: 0.2
        contrast_factor: 0.2