138 lines
3.4 KiB
YAML
138 lines
3.4 KiB
YAML
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CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
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MODEL:
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NAME: SECONDNet
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VFE:
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NAME: MeanVFE
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BACKBONE_3D:
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NAME: VoxelBackBone8x
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MAP_TO_BEV:
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NAME: HeightCompression
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NUM_BEV_FEATURES: 256
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BACKBONE_2D:
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NAME: BaseBEVBackbone
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LAYER_NUMS: [5, 5]
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LAYER_STRIDES: [1, 2]
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NUM_FILTERS: [128, 256]
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UPSAMPLE_STRIDES: [1, 2]
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NUM_UPSAMPLE_FILTERS: [256, 256]
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DENSE_HEAD:
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NAME: AnchorHeadMulti
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CLASS_AGNOSTIC: False
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USE_DIRECTION_CLASSIFIER: True
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DIR_OFFSET: 0.78539
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DIR_LIMIT_OFFSET: 0.0
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NUM_DIR_BINS: 2
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USE_MULTIHEAD: True
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SEPARATE_MULTIHEAD: True
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ANCHOR_GENERATOR_CONFIG: [
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{
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'class_name': 'Car',
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'anchor_sizes': [[3.9, 1.6, 1.56]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-1.6],
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'align_center': False,
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'feature_map_stride': 8,
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'matched_threshold': 0.6,
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'unmatched_threshold': 0.45
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},
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{
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'class_name': 'Pedestrian',
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'anchor_sizes': [[0.8, 0.6, 1.73]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-1.6],
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'align_center': False,
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'feature_map_stride': 8,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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},
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{
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'class_name': 'Cyclist',
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'anchor_sizes': [[1.76, 0.6, 1.73]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-1.6],
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'align_center': False,
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'feature_map_stride': 8,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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}
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]
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SHARED_CONV_NUM_FILTER: 64
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RPN_HEAD_CFGS: [
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{
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'HEAD_CLS_NAME': ['Car'],
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},
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{
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'HEAD_CLS_NAME': ['Pedestrian'],
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},
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{
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'HEAD_CLS_NAME': ['Cyclist'],
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}
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]
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TARGET_ASSIGNER_CONFIG:
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NAME: AxisAlignedTargetAssigner
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POS_FRACTION: -1.0
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SAMPLE_SIZE: 512
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NORM_BY_NUM_EXAMPLES: False
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MATCH_HEIGHT: False
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BOX_CODER: ResidualCoder
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 2.0,
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'dir_weight': 0.2,
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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}
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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MULTI_CLASSES_NMS: True
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SCORE_THRESH: 0.1
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OUTPUT_RAW_SCORE: False
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EVAL_METRIC: kitti
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NMS_CONFIG:
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MULTI_CLASSES_NMS: True
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.1
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NMS_PRE_MAXSIZE: 4096
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NMS_POST_MAXSIZE: 500
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 4
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NUM_EPOCHS: 80
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OPTIMIZER: adam_onecycle
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LR: 0.003
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WEIGHT_DECAY: 0.01
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.4
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DIV_FACTOR: 10
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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LR_CLIP: 0.0000001
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LR_WARMUP: False
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WARMUP_EPOCH: 1
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GRAD_NORM_CLIP: 10
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