From 1fc982cecd3c34343ec798a2690a54847904c896 Mon Sep 17 00:00:00 2001
From: inter <inter@qq.com>
Date: Sun, 21 Sep 2025 20:19:52 +0800
Subject: [PATCH] Add File

---
 tools/cfgs/kitti_models/second_multihead.yaml | 137 ++++++++++++++++++
 1 file changed, 137 insertions(+)
 create mode 100644 tools/cfgs/kitti_models/second_multihead.yaml

diff --git a/tools/cfgs/kitti_models/second_multihead.yaml b/tools/cfgs/kitti_models/second_multihead.yaml
new file mode 100644
index 0000000..93d27f9
--- /dev/null
+++ b/tools/cfgs/kitti_models/second_multihead.yaml
@@ -0,0 +1,137 @@
+CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
+DATA_CONFIG: 
+    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
+
+
+MODEL:
+    NAME: SECONDNet
+
+    VFE:
+        NAME: MeanVFE
+
+    BACKBONE_3D:
+        NAME: VoxelBackBone8x
+
+    MAP_TO_BEV:
+        NAME: HeightCompression
+        NUM_BEV_FEATURES: 256
+
+    BACKBONE_2D:
+        NAME: BaseBEVBackbone
+
+        LAYER_NUMS: [5, 5]
+        LAYER_STRIDES: [1, 2]
+        NUM_FILTERS: [128, 256]
+        UPSAMPLE_STRIDES: [1, 2]
+        NUM_UPSAMPLE_FILTERS: [256, 256]
+
+    DENSE_HEAD:
+        NAME: AnchorHeadMulti
+        CLASS_AGNOSTIC: False
+
+        USE_DIRECTION_CLASSIFIER: True
+        DIR_OFFSET: 0.78539
+        DIR_LIMIT_OFFSET: 0.0
+        NUM_DIR_BINS: 2
+        
+        USE_MULTIHEAD: True
+        SEPARATE_MULTIHEAD: True
+        ANCHOR_GENERATOR_CONFIG: [
+            {
+                'class_name': 'Car',
+                'anchor_sizes': [[3.9, 1.6, 1.56]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.6],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.6,
+                'unmatched_threshold': 0.45
+            },
+            {
+                'class_name': 'Pedestrian',
+                'anchor_sizes': [[0.8, 0.6, 1.73]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.6],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            },
+            {
+                'class_name': 'Cyclist',
+                'anchor_sizes': [[1.76, 0.6, 1.73]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.6],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            }
+        ]
+
+        SHARED_CONV_NUM_FILTER: 64
+
+        RPN_HEAD_CFGS: [
+            {
+                'HEAD_CLS_NAME': ['Car'],
+            },
+            {
+                'HEAD_CLS_NAME': ['Pedestrian'],
+            },
+            {
+                'HEAD_CLS_NAME': ['Cyclist'],
+            }
+        ]
+
+        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]
+        MULTI_CLASSES_NMS: True
+        SCORE_THRESH: 0.1
+        OUTPUT_RAW_SCORE: False
+
+        EVAL_METRIC: kitti
+
+        NMS_CONFIG:
+            MULTI_CLASSES_NMS: True
+            NMS_TYPE: nms_gpu
+            NMS_THRESH: 0.1
+            NMS_PRE_MAXSIZE: 4096
+            NMS_POST_MAXSIZE: 500
+
+
+OPTIMIZATION:
+    BATCH_SIZE_PER_GPU: 4
+    NUM_EPOCHS: 80
+
+    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