136 lines
3.3 KiB
YAML
136 lines
3.3 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: PointRCNN
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VFE:
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NAME: MeanVFE
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BACKBONE_3D:
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NAME: UNetV2
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RETURN_ENCODED_TENSOR: False
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POINT_HEAD:
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NAME: PointIntraPartOffsetHead
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CLS_FC: [128, 128]
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PART_FC: [128, 128]
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REG_FC: [128, 128]
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CLASS_AGNOSTIC: False
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USE_POINT_FEATURES_BEFORE_FUSION: False
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TARGET_CONFIG:
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GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
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BOX_CODER: PointResidualCoder
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BOX_CODER_CONFIG: {
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'use_mean_size': True,
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'mean_size': [
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[3.9, 1.6, 1.56],
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[0.8, 0.6, 1.73],
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[1.76, 0.6, 1.73]
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]
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}
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LOSS_CONFIG:
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LOSS_REG: WeightedSmoothL1Loss
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LOSS_WEIGHTS: {
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'point_cls_weight': 1.0,
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'point_box_weight': 1.0,
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'point_part_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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ROI_HEAD:
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NAME: PartA2FCHead
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CLASS_AGNOSTIC: True
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SHARED_FC: [256, 256, 256]
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CLS_FC: [256, 256]
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REG_FC: [256, 256]
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DP_RATIO: 0.3
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DISABLE_PART: True
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SEG_MASK_SCORE_THRESH: 0.0
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NMS_CONFIG:
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TRAIN:
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NMS_TYPE: nms_gpu
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MULTI_CLASSES_NMS: False
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NMS_PRE_MAXSIZE: 9000
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NMS_POST_MAXSIZE: 512
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NMS_THRESH: 0.8
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TEST:
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NMS_TYPE: nms_gpu
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MULTI_CLASSES_NMS: False
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NMS_PRE_MAXSIZE: 9000
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NMS_POST_MAXSIZE: 100
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NMS_THRESH: 0.85
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ROI_AWARE_POOL:
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POOL_SIZE: 12
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NUM_FEATURES: 128
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MAX_POINTS_PER_VOXEL: 128
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TARGET_CONFIG:
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BOX_CODER: ResidualCoder
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ROI_PER_IMAGE: 128
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FG_RATIO: 0.5
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SAMPLE_ROI_BY_EACH_CLASS: True
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CLS_SCORE_TYPE: roi_iou
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CLS_FG_THRESH: 0.75
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CLS_BG_THRESH: 0.25
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CLS_BG_THRESH_LO: 0.1
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HARD_BG_RATIO: 0.8
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REG_FG_THRESH: 0.65
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LOSS_CONFIG:
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CLS_LOSS: BinaryCrossEntropy
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REG_LOSS: smooth-l1
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CORNER_LOSS_REGULARIZATION: True
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LOSS_WEIGHTS: {
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'rcnn_cls_weight': 1.0,
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'rcnn_reg_weight': 1.0,
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'rcnn_corner_weight': 1.0,
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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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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: False
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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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