def cfg_preprocess(cfg): cfg.TORCH_VOXEL_GENERATOR = cfg.USE_PSEUDOLIDAR or cfg.INJECT_SEMANTICS cfg = EasyDict() cfg.ROOT_DIR = (Path(__file__).resolve().parent / '../').resolve() cfg.LOCAL_RANK = 0 # default flags cfg.wandb_has_initialized = False # don't change this, this is only for internal logging use cfg.TAG_PTS_WITH_RGB = False cfg.MODE = '3dobjdet' cfg.ALTERNATE_PT_CLOUD_ABS_DIR = '' # default to empty str which represents False cfg.PERCENT_OF_PTS = 100 # by default, use all of the points cfg.TAG_PTS_IF_IN_GT_BBOXES = False cfg.INJECT_SEMANTICS = False cfg.INJECT_SEMANTICS_HEIGHT = 0 cfg.INJECT_SEMANTICS_WIDTH = 0 cfg.INJECT_SEMANTICS_MODE = 'binary_car_mask' # one of binary_car_mask, logit_car_mask cfg.TRAIN_SEMANTIC_NETWORK = False cfg.SEMANTICS_ZERO_OUT = False cfg.USE_PSEUDOLIDAR = False cfg.DEPTH_MAP_TOP_MARGIN_PCT = .35 cfg.SPARSIFY_PL_PTS = True # cfg.TORCH_VOXEL_GENERATOR # set by a combination of other scripts