CLASS_NAMES: ['Car']

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
    GET_ITEM_LIST: ["images", "points", "calib_matricies", "gt_boxes2d"]
    DATA_AUGMENTOR:
        DISABLE_AUG_LIST: ['placeholder']
        AUG_CONFIG_LIST:
            - NAME: gt_sampling

              # AUG_WITH_IMAGE: True # use PC-Image Aug
              IMG_AUG_TYPE: kitti

              USE_ROAD_PLANE: True
              DB_INFO_PATH:
                  - kitti_dbinfos_train.pkl
              PREPARE: {
                 filter_by_min_points: ['Car:5'],
                 filter_by_difficulty: [-1],
              }

              SAMPLE_GROUPS: ['Car:15']
              NUM_POINT_FEATURES: 4
              DATABASE_WITH_FAKELIDAR: False
              REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
              LIMIT_WHOLE_SCENE: False

            - NAME: random_world_flip
              ALONG_AXIS_LIST: ['x']

            - NAME: random_world_rotation
              WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]

            - NAME: random_world_scaling
              WORLD_SCALE_RANGE: [0.95, 1.05]
     
MODEL:
    NAME: VoxelRCNN

    VFE:
        NAME: MeanVFE

    BACKBONE_3D:
        NAME: VoxelBackBone8xFocal
        USE_IMG: True
        IMG_PRETRAIN: "../checkpoints/deeplabv3_resnet50_coco-cd0a2569.pth"

    MAP_TO_BEV:
        NAME: HeightCompression
        NUM_BEV_FEATURES: 256

    BACKBONE_2D:
        NAME: BaseBEVBackbone

        LAYER_NUMS: [5, 5]
        LAYER_STRIDES: [1, 2]
        NUM_FILTERS: [64, 128]
        UPSAMPLE_STRIDES: [1, 2]
        NUM_UPSAMPLE_FILTERS: [128, 128]

    DENSE_HEAD:
        NAME: AnchorHeadSingle
        CLASS_AGNOSTIC: False

        USE_DIRECTION_CLASSIFIER: True
        DIR_OFFSET: 0.78539
        DIR_LIMIT_OFFSET: 0.0
        NUM_DIR_BINS: 2

        ANCHOR_GENERATOR_CONFIG: [
            {
                'class_name': 'Car',
                'anchor_sizes': [[3.9, 1.6, 1.56]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-1.78],
                'align_center': False,
                'feature_map_stride': 8,
                'matched_threshold': 0.6,
                'unmatched_threshold': 0.45
            },
        ]

        TARGET_ASSIGNER_CONFIG:
            NAME: AxisAlignedTargetAssigner
            POS_FRACTION: -1.0
            SAMPLE_SIZE: 512
            NORM_BY_NUM_EXAMPLES: False
            MATCH_HEIGHT: False
            BOX_CODER: ResidualCoder

        LOSS_CONFIG:
            LOSS_WEIGHTS: {
                'cls_weight': 1.0,
                'loc_weight': 2.0,
                'dir_weight': 0.2,
                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
            }

    ROI_HEAD:
        NAME: VoxelRCNNHead
        CLASS_AGNOSTIC: True

        SHARED_FC: [256, 256]
        CLS_FC: [256, 256]
        REG_FC: [256, 256]
        DP_RATIO: 0.3

        NMS_CONFIG:
            TRAIN:
                NMS_TYPE: nms_gpu
                MULTI_CLASSES_NMS: False
                NMS_PRE_MAXSIZE: 9000
                NMS_POST_MAXSIZE: 512
                NMS_THRESH: 0.8
            TEST:
                NMS_TYPE: nms_gpu
                MULTI_CLASSES_NMS: False
                USE_FAST_NMS: False
                SCORE_THRESH: 0.0
                NMS_PRE_MAXSIZE: 2048
                NMS_POST_MAXSIZE: 100
                NMS_THRESH: 0.7

        ROI_GRID_POOL:
            FEATURES_SOURCE: ['x_conv2', 'x_conv3', 'x_conv4']
            PRE_MLP: True
            GRID_SIZE: 6
            POOL_LAYERS:
                x_conv2:
                    MLPS: [[32, 32]]
                    QUERY_RANGES: [[4, 4, 4]]
                    POOL_RADIUS: [0.4]
                    NSAMPLE: [16]
                    POOL_METHOD: max_pool
                x_conv3:
                    MLPS: [[32, 32]]
                    QUERY_RANGES: [[4, 4, 4]]
                    POOL_RADIUS: [0.8]
                    NSAMPLE: [16]
                    POOL_METHOD: max_pool
                x_conv4:
                    MLPS: [[32, 32]]
                    QUERY_RANGES: [[4, 4, 4]]
                    POOL_RADIUS: [1.6]
                    NSAMPLE: [16]
                    POOL_METHOD: max_pool
        TARGET_CONFIG:
            BOX_CODER: ResidualCoder
            ROI_PER_IMAGE: 128
            FG_RATIO: 0.5

            SAMPLE_ROI_BY_EACH_CLASS: True
            CLS_SCORE_TYPE: roi_iou

            CLS_FG_THRESH: 0.75
            CLS_BG_THRESH: 0.25
            CLS_BG_THRESH_LO: 0.1
            HARD_BG_RATIO: 0.8

            REG_FG_THRESH: 0.55

        LOSS_CONFIG:
            CLS_LOSS: BinaryCrossEntropy
            REG_LOSS: smooth-l1
            CORNER_LOSS_REGULARIZATION: True
            GRID_3D_IOU_LOSS: False
            LOSS_WEIGHTS: {
                'rcnn_cls_weight': 1.0,
                'rcnn_reg_weight': 1.0,
                'rcnn_corner_weight': 1.0,
                'rcnn_iou3d_weight': 1.0,
                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
            }

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
        SCORE_THRESH: 0.3
        OUTPUT_RAW_SCORE: False

        EVAL_METRIC: kitti

        NMS_CONFIG:
            MULTI_CLASSES_NMS: False
            NMS_TYPE: nms_gpu
            NMS_THRESH: 0.1
            NMS_PRE_MAXSIZE: 4096
            NMS_POST_MAXSIZE: 500


OPTIMIZATION:
    BATCH_SIZE_PER_GPU: 2
    NUM_EPOCHS: 80

    OPTIMIZER: adam_onecycle
    LR: 0.01
    WEIGHT_DECAY: 0.01
    MOMENTUM: 0.9

    MOMS: [0.95, 0.85]
    PCT_START: 0.4
    DIV_FACTOR: 10
    DECAY_STEP_LIST: [35, 45]
    LR_DECAY: 0.1
    LR_CLIP: 0.0000001

    LR_WARMUP: False
    WARMUP_EPOCH: 1

    GRAD_NORM_CLIP: 10
