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
