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tools/cfgs/waymo_models/pointpillar_1x.yaml

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+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
+
+    POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
+    DATA_PROCESSOR:
+        -   NAME: mask_points_and_boxes_outside_range
+            REMOVE_OUTSIDE_BOXES: True
+
+        -   NAME: shuffle_points
+            SHUFFLE_ENABLED: {
+                'train': True,
+                'test': True
+            }
+
+        -   NAME: transform_points_to_voxels
+            VOXEL_SIZE: [ 0.32, 0.32, 6.0 ]
+            MAX_POINTS_PER_VOXEL: 20
+            MAX_NUMBER_OF_VOXELS: {
+                'train': 150000,
+                'test': 150000
+            }
+
+
+MODEL:
+    NAME: PointPillar
+
+    VFE:
+        NAME: PillarVFE
+        WITH_DISTANCE: False
+        USE_ABSLOTE_XYZ: True
+        USE_NORM: True
+        NUM_FILTERS: [ 64, 64 ]
+
+    MAP_TO_BEV:
+        NAME: PointPillarScatter
+        NUM_BEV_FEATURES: 64
+
+    BACKBONE_2D:
+        NAME: BaseBEVBackbone
+        LAYER_NUMS: [ 3, 5, 5 ]
+        LAYER_STRIDES: [ 1, 2, 2 ]
+        NUM_FILTERS: [ 64, 128, 256 ]
+        UPSAMPLE_STRIDES: [ 1, 2, 4 ]
+        NUM_UPSAMPLE_FILTERS: [ 128, 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': 'Vehicle',
+                'anchor_sizes': [ [ 4.7, 2.1, 1.7 ] ],
+                'anchor_rotations': [ 0, 1.57 ],
+                'anchor_bottom_heights': [ 0 ],
+                'align_center': False,
+                'feature_map_stride': 1,
+                'matched_threshold': 0.55,
+                'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': 'Pedestrian',
+                'anchor_sizes': [ [ 0.91, 0.86, 1.73 ] ],
+                'anchor_rotations': [ 0, 1.57 ],
+                'anchor_bottom_heights': [ 0 ],
+                'align_center': False,
+                'feature_map_stride': 1,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            },
+            {
+                'class_name': 'Cyclist',
+                'anchor_sizes': [ [ 1.78, 0.84, 1.78 ] ],
+                'anchor_rotations': [ 0, 1.57 ],
+                'anchor_bottom_heights': [ 0 ],
+                'align_center': False,
+                'feature_map_stride': 1,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            }
+        ]
+
+        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 ]
+            }
+
+    POST_PROCESSING:
+        RECALL_THRESH_LIST: [ 0.3, 0.5, 0.7 ]
+        SCORE_THRESH: 0.1
+        OUTPUT_RAW_SCORE: False
+
+        EVAL_METRIC: waymo
+
+        NMS_CONFIG:
+            MULTI_CLASSES_NMS: False
+            NMS_TYPE: nms_gpu
+            NMS_THRESH: 0.7
+            NMS_PRE_MAXSIZE: 4096
+            NMS_POST_MAXSIZE: 500
+
+
+OPTIMIZATION:
+    BATCH_SIZE_PER_GPU: 2
+    NUM_EPOCHS: 30
+
+    OPTIMIZER: adam_onecycle
+    LR: 0.003
+    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