142 lines
3.8 KiB
YAML
142 lines
3.8 KiB
YAML
|
CLASS_NAMES: ['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist']
|
||
|
|
|
||
|
|
DATA_CONFIG:
|
||
|
|
_BASE_CONFIG_: cfgs/dataset_configs/once_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: 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': 8,
|
||
|
|
'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': 8,
|
||
|
|
'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': 8,
|
||
|
|
'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': 8,
|
||
|
|
'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': 8,
|
||
|
|
'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
|