101 lines
2.4 KiB
YAML
101 lines
2.4 KiB
YAML
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CLASS_NAMES: ['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/once_dataset.yaml
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MODEL:
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NAME: CenterPoint
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VFE:
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NAME: MeanVFE
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BACKBONE_3D:
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NAME: VoxelResBackBone8x
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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: CenterHead
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CLASS_AGNOSTIC: False
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CLASS_NAMES_EACH_HEAD: [
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['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist']
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]
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SHARED_CONV_CHANNEL: 64
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USE_BIAS_BEFORE_NORM: True # TODO
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NUM_HM_CONV: 2 # TODO
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SEPARATE_HEAD_CFG:
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HEAD_ORDER: ['center', 'center_z', 'dim', 'rot']
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HEAD_DICT: {
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'center': {'out_channels': 2, 'num_conv': 2},
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'center_z': {'out_channels': 1, 'num_conv': 2},
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'dim': {'out_channels': 3, 'num_conv': 2},
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'rot': {'out_channels': 2, 'num_conv': 2},
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}
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TARGET_ASSIGNER_CONFIG:
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FEATURE_MAP_STRIDE: 8
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NUM_MAX_OBJS: 500
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GAUSSIAN_OVERLAP: 0.1
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MIN_RADIUS: 2
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DENSE_REG: 1
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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': 1.0,
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'code_weights': [1.0, 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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SCORE_THRESH: 0.1
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POST_CENTER_LIMIT_RANGE: [-75.2, -75.2, -5.0, 75.2, 75.2, 3.0]
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MAX_OBJ_PER_SAMPLE: 500
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NMS_CONFIG:
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MULTI_CLASSES_NMS: False
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.01
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NMS_PRE_MAXSIZE: 4096
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NMS_POST_MAXSIZE: 500
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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OUTPUT_RAW_SCORE: False
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EVAL_METRIC: once
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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: 35
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