From e65c213959529928600900af0f7fda7b29244f46 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/pointrcnn.yaml | 162 ++++++++++++++++++++++++++
 1 file changed, 162 insertions(+)
 create mode 100644 tools/cfgs/once_models/pointrcnn.yaml

diff --git a/tools/cfgs/once_models/pointrcnn.yaml b/tools/cfgs/once_models/pointrcnn.yaml
new file mode 100644
index 0000000..28f8650
--- /dev/null
+++ b/tools/cfgs/once_models/pointrcnn.yaml
@@ -0,0 +1,162 @@
+CLASS_NAMES: ['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/once_dataset.yaml
+
+    DATA_PROCESSOR:
+        -   NAME: mask_points_and_boxes_outside_range
+            REMOVE_OUTSIDE_BOXES: True
+
+        -   NAME: sample_points
+            NUM_POINTS: {
+                'train': 60000,
+                'test': 60000
+            }
+
+        -   NAME: shuffle_points
+            SHUFFLE_ENABLED: {
+                'train': True,
+                'test': False
+            }
+
+MODEL:
+    NAME: PointRCNN
+
+    BACKBONE_3D:
+        NAME: PointNet2MSG
+        SA_CONFIG:
+            NPOINTS: [32000, 4000, 500, 256]
+            RADIUS: [[0.2, 1.0], [1.0, 2.0], [2.0, 4.0], [4.0, 8.0]]
+            NSAMPLE: [[16, 32], [16, 32], [16, 32], [16, 32]]
+            MLPS: [[[16, 16, 32], [32, 32, 64]],
+                   [[64, 64, 128], [64, 96, 128]],
+                   [[128, 196, 256], [128, 196, 256]],
+                   [[256, 256, 512], [256, 384, 512]]]
+        FP_MLPS: [[128, 128], [256, 256], [512, 512], [512, 512]]
+
+    POINT_HEAD:
+        NAME: PointHeadBox
+        CLS_FC: [256, 256]
+        REG_FC: [256, 256]
+        CLASS_AGNOSTIC: False
+        USE_POINT_FEATURES_BEFORE_FUSION: False
+        TARGET_CONFIG:
+            GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
+            BOX_CODER: PointResidualCoder
+            BOX_CODER_CONFIG: {
+                'use_mean_size': True,
+                'mean_size': [
+                    [4.38, 1.87, 1.59],
+                    [11.11, 2.88, 3.41],
+                    [7.52, 2.50, 2.62],
+                    [0.70, 0.66, 1.69],
+                    [2.18, 0.79, 1.43]
+                ]
+            }
+
+        LOSS_CONFIG:
+            LOSS_REG: WeightedSmoothL1Loss
+            LOSS_WEIGHTS: {
+                'point_cls_weight': 1.0,
+                'point_box_weight': 1.0,
+                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+            }
+
+    ROI_HEAD:
+        NAME: PointRCNNHead
+        CLASS_AGNOSTIC: True
+
+        ROI_POINT_POOL:
+            POOL_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+            NUM_SAMPLED_POINTS: 512
+            DEPTH_NORMALIZER: 150.4
+
+        XYZ_UP_LAYER: [128, 128]
+        CLS_FC: [256, 256]
+        REG_FC: [256, 256]
+        DP_RATIO: 0.0
+        USE_BN: False
+
+        SA_CONFIG:
+            NPOINTS: [128, 32, -1]
+            RADIUS: [0.2, 0.4, 100]
+            NSAMPLE: [16, 16, 16]
+            MLPS: [[128, 128, 128],
+                   [128, 128, 256],
+                   [256, 256, 512]]
+
+        NMS_CONFIG:
+            TRAIN:
+                NMS_TYPE: nms_gpu
+                MULTI_CLASSES_NMS: False
+                NMS_PRE_MAXSIZE: 9000
+                NMS_POST_MAXSIZE: 512
+                NMS_THRESH: 0.8
+            TEST:
+                NMS_TYPE: nms_gpu
+                MULTI_CLASSES_NMS: False
+                NMS_PRE_MAXSIZE: 9000
+                NMS_POST_MAXSIZE: 100
+                NMS_THRESH: 0.85
+
+        TARGET_CONFIG:
+            BOX_CODER: ResidualCoder
+            ROI_PER_IMAGE: 128
+            FG_RATIO: 0.5
+
+            SAMPLE_ROI_BY_EACH_CLASS: True
+            CLS_SCORE_TYPE: cls
+
+            CLS_FG_THRESH: 0.6
+            CLS_BG_THRESH: 0.45
+            CLS_BG_THRESH_LO: 0.1
+            HARD_BG_RATIO: 0.8
+
+            REG_FG_THRESH: 0.55
+
+        LOSS_CONFIG:
+            CLS_LOSS: BinaryCrossEntropy
+            REG_LOSS: smooth-l1
+            CORNER_LOSS_REGULARIZATION: True
+            LOSS_WEIGHTS: {
+                'rcnn_cls_weight': 1.0,
+                'rcnn_reg_weight': 1.0,
+                'rcnn_corner_weight': 1.0,
+                '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