From 90889d684bc4d02bc0da82aaa12792c778a688d6 Mon Sep 17 00:00:00 2001
From: inter <inter@qq.com>
Date: Sun, 21 Sep 2025 20:19:48 +0800
Subject: [PATCH] Add File

---
 tools/cfgs/once_models/pointpillar.yaml | 148 ++++++++++++++++++++++++
 1 file changed, 148 insertions(+)
 create mode 100644 tools/cfgs/once_models/pointpillar.yaml

diff --git a/tools/cfgs/once_models/pointpillar.yaml b/tools/cfgs/once_models/pointpillar.yaml
new file mode 100644
index 0000000..775ae64
--- /dev/null
+++ b/tools/cfgs/once_models/pointpillar.yaml
@@ -0,0 +1,148 @@
+CLASS_NAMES: ['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist']
+
+DATA_CONFIG: 
+    _BASE_CONFIG_: cfgs/dataset_configs/once_dataset.yaml
+    DATA_PROCESSOR:
+        - NAME: transform_points_to_voxels
+          VOXEL_SIZE: [0.2, 0.2, 8]
+          MAX_POINTS_PER_VOXEL: 16
+          MAX_NUMBER_OF_VOXELS: {
+            'train': 60000,
+            'test': 60000
+          }
+
+MODEL:
+    NAME: PointPillar
+
+    VFE:
+        NAME: PillarVFE
+        WITH_DISTANCE: False
+        USE_ABSLOTE_XYZ: True
+        USE_NORM: True
+        NUM_FILTERS: [64]
+
+    MAP_TO_BEV:
+        NAME: PointPillarScatter
+        NUM_BEV_FEATURES: 64
+
+    BACKBONE_2D:
+        NAME: BaseBEVBackbone
+        LAYER_NUMS: [3, 5, 5]
+        LAYER_STRIDES: [2, 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': 'Car',
+                'anchor_sizes': [[4.38, 1.87, 1.59]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.71],
+                'align_center': False,
+                'feature_map_stride': 2,
+                'matched_threshold': 0.6,
+                'unmatched_threshold': 0.45
+            },
+            {
+              'class_name': 'Bus',
+              'anchor_sizes': [[11.11, 2.88, 3.41]],
+              'anchor_rotations': [0, 1.57],
+              'anchor_bottom_heights': [-1.74],
+              'align_center': False,
+              'feature_map_stride': 2,
+              'matched_threshold': 0.55,
+              'unmatched_threshold': 0.4
+            },
+            {
+              'class_name': 'Truck',
+              'anchor_sizes': [[7.52, 2.50, 2.62]],
+              'anchor_rotations': [0, 1.57],
+              'anchor_bottom_heights': [-1.55],
+              'align_center': False,
+              'feature_map_stride': 2,
+              'matched_threshold': 0.55,
+              'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': 'Pedestrian',
+                'anchor_sizes': [[0.75, 0.76, 1.69]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.62],
+                'align_center': False,
+                'feature_map_stride': 2,
+                'matched_threshold': 0.3,
+                'unmatched_threshold': 0.15
+            },
+            {
+                'class_name': 'Cyclist',
+                'anchor_sizes': [[2.18, 0.79, 1.43]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.65],
+                'align_center': False,
+                'feature_map_stride': 2,
+                '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: once
+
+        NMS_CONFIG:
+            MULTI_CLASSES_NMS: False
+            NMS_TYPE: nms_gpu
+            NMS_THRESH: 0.01
+            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
\ No newline at end of file