mode: 'create' # can be 'create' or 'replace'
# When mode is 'create' the following configurations denote the number of
# scenes that should be generated for each map.
train_scene_config:
Town01: 8
Town02: 8
Town03: 20
Town04: 20
Town05: 20
Town06: 20
Town07: 20
Town10HD: 20
Town12: 48
Town15: 36
val_scene_config:
Town01: 2
Town02: 2
Town03: 4
Town04: 4
Town05: 4
Town06: 4
Town07: 4
Town10HD: 4
Town12: 8
Town13: 8
Town15: 6
test_scene_config:
Town01: 2
Town02: 2
Town03: 4
Town04: 4
Town05: 4
Town06: 4
Town07: 4
Town10HD: 4
Town12: 8
Town13: 8
Town15: 6
# When mode is 'replace' the following configuration denotes the list of
# scenes that should be overwritten.
scene_config: []
vehicle: 'mustang_2016'
vehicle_color: '0,0,0'
show_debug_telemetry: False
simulate_physics: True
warmup_duration: 4
scene_duration: 16
host: 'localhost'
timeout: 80.0
timestep: 0.05
resolution_x: 1920
resolution_y: 1080
show_display: True
quality_level: 'Epic'
retries_on_error: 10
tile_stream_distance: 800.0
actor_active_distance: 800.0
waypoint_distance: 0.4
waypoint_area_radius: 800.0
nearby_waypoint_area_radius: 120.0
spawn_point_separation_distance: 24.0
bbox_collection_radius: 120.0
npc_spawn_radius: 400.0
bev_dim: 360
bev_res: 0.4
ignore_lights_percentage: 0.1
ignore_signs_percentage: 0.1
ignore_vehicles_percentage: 0.1
ignore_walkers_percentage: 0.1
door_open_percentage: 10.0
emergency_lights_percentage: 50.0
reckless_ego: True
reckless_ego_percentage: 1.0
reckless_npc: True
reckless_npc_percentage: 1.0
walker_spawn_attempts: 100
walker_speed_min: 0.8
random_building_light_colors: True
change_street_light_intensity: True
min_street_light_intensity: 10000
random_street_light_failure: True
street_light_failure_percentage: 10.0
turn_off_building_lights: False
turn_off_street_lights: False
use_cityscapes_palette: False
use_rgb_camera: True
rgb_camera_width: 1600
rgb_camera_height: 900
rgb_camera_properties:
fov: '80'
fstop: '1.8'
use_semantic_camera: True
semantic_camera_width: 1600
semantic_camera_height: 900
semantic_camera_properties:
fov: '80'
use_instance_camera: True
instance_camera_width: 1600
instance_camera_height: 900
instance_camera_properties:
fov: '80'
use_depth_camera: True
depth_camera_width: 1600
depth_camera_height: 900
depth_camera_properties:
fov: '80'
use_flow_camera: True
flow_camera_width: 1600
flow_camera_height: 900
flow_camera_properties:
fov: '80'
use_lidar: True
lidar_channels: 128
lidar_range: 120.0
lidar_properties:
rotation_frequency: '20.0'
points_per_second: '5242880'
upper_fov: '10.67'
lower_fov: '-30.67'
dropoff_general_rate: '0.14'
noise_stddev: '0.01'
use_semantic_lidar: True
semantic_lidar_channels: 128
semantic_lidar_range: 120.0
semantic_lidar_properties:
rotation_frequency: '20.0'
points_per_second: '5242880'
upper_fov: '10.67'
lower_fov: '-30.67'
use_radar: True
radar_range: 120.0
radar_horizontal_fov: 100.0
radar_vertical_fov: 12.0
radar_properties:
points_per_second: '40000'
use_gnss: True
gnss_properties:
noise_seed: '27'
noise_alt_stddev: '0.04'
noise_lat_stddev: '0.0000004'
noise_lon_stddev: '0.0000004'
use_imu: True
imu_properties:
noise_seed: '27'
noise_accel_stddev_x: '0.00017'
noise_accel_stddev_y: '0.00017'
noise_accel_stddev_z: '0.00017'
noise_gyro_bias_x: '0.00017'
noise_gyro_bias_y: '0.00017'
noise_gyro_bias_z: '0.00017'
noise_gyro_stddev_x: '0.0000056'
noise_gyro_stddev_y: '0.0000056'
noise_gyro_stddev_z: '0.0000056'
########## Optional Settings ##########
# street_light_intensity_change: 200000.0
# n_vehicles: 100
# n_walkers: 100
# walker_cross_factor: 0.6
# speed_difference: -10.0
# distance_to_leading: 4.0
# green_time: 12.0
# weather:
# cloudiness: 10.0
# precipitation: 0.0
# precipitation_deposits: 10.0
# wind_intensity: 10.0
# sun_azimuth_angle: 300.0
# sun_altitude_angle: 20.0
# wetness: 0.0
# fog_density: 2.0
# fog_distance: 0.75
# fog_falloff: 0.1
# ego_vehicle_spawn_point:
# Town04: [
# [[185.2, 204.1, 0.3], [0.0, 0.0, -20.0]],
# [[198.3, 195.9, 0.3], [0.0, 0.0, -20.0]],
# [[112.8, 38.2, 11.1], [0.0, 0.0, 0.0]]
# ]
# Town10HD: [
# [[-17.1, 13.2, 0.6], [0.0, 0.0, 180.0]],
# [[-64.6, 24.4, 0.6], [0.0, 0.0, 0.0]],
# [[-52.3, -28.9, 0.6], [0.0, 0.0, 90.0]],
# [[-48.6, 60.6, 0.6], [0.0, 0.0, 90.0]],
# [[40.4, 41.9, 0.6], [0.0, 0.0, 90.0]],
# [[27.1, 66.3, 0.6], [0.0, 0.0, 180.0]],
# [[-54.3, 137.1, 0.6], [0.0, 0.0, 0.0]],
# [[106.0, 50.9, 0.6], [0.0, 0.0, -90.0]],
# [[57.6, -67.8, 0.6], [0.0, 0.0, 180.0]],
# [[-27.8, -61.2, 0.6], [0.0, 0.0, 0.0]],
# [[-110.2, -9.8, 0.6], [0.0, 0.0, 90.0]],
# [[-87.6, 13.0, 0.6], [0.0, 0.0, 180.0]]
# ]