py123d_example.yaml

# Example py123d-data settings for NeuRAD / SplatAD.
#
# Neurad passes these as CLI flags under the `py123d-data` subcommand
# (see docs/py123d-data.md). This file is a readable reference — copy values
# into your train command or adapt them for your export.
#
# Expected on-disk layout for the settings below:
#
#   data/py123d/
#     logs/
#       train/
#         my_log_001/
#           sync.arrow
#           ego_state_se3.arrow
#           box_detections_se3.arrow
#           camera.pcam_f0.arrow
#           camera.pcam_l0.arrow
#           camera.pcam_r0.arrow
#           lidar.lidar_merged.arrow
#           custom.capture_metadata.arrow   # optional

data: data/py123d
log_id: my_log_001
split: train

# Camera / lidar names must match Arrow schema metadata (camera_name / lidar name).
cameras:
  - CAM_FRONT
  - CAM_FRONT_LEFT
  - CAM_FRONT_RIGHT
lidars:
  - LIDAR_TOP
# neurad Lidars default; override to match your sensor.
lidar_type: VELODYNE_VLP32C

# Actors (requires box_detections_se3.arrow with an importable BoxDetectionLabel enum).
load_cuboids: false
include_deformable_actors: true
allowed_rigid_classes:
  - vehicle
  - two_wheeler
  - train
  - bicycle
  - motorcycle
  - bus
  - truck
  - trailer
allowed_deformable_classes:
  - person
  - human
  - pedestrian

# Merged multi-lidar clouds should keep this false.
add_missing_points: false
annotation_interval: 0.5

# Rolling shutter (CLI overrides; not stored in the Arrow files).
rolling_shutter_time: 0.03
time_to_center_pixel: 0.0

# Optional per-camera capture timestamps.
use_capture_timestamps: true
capture_metadata_modality: custom.capture_metadata

# Equivalent train invocation:
#
#   TORCHDYNAMO_DISABLE=1 python nerfstudio/scripts/train.py splatad \
#     --max-num-iterations 30001 \
#     --vis tensorboard \
#     py123d-data \
#     --data data/py123d \
#     --log-id my_log_001 \
#     --split train \
#     --cameras CAM_FRONT CAM_FRONT_LEFT CAM_FRONT_RIGHT \
#     --lidars LIDAR_TOP \
#     --lidar-type VELODYNE_VLP32C \
#     --load-cuboids False \
#     --rolling-shutter-time 0.03 \
#     --time-to-center-pixel 0.0