165 lines
4.5 KiB
YAML
165 lines
4.5 KiB
YAML
CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
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POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]
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DATA_PROCESSOR:
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- NAME: mask_points_and_boxes_outside_range
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REMOVE_OUTSIDE_BOXES: True
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- NAME: shuffle_points
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SHUFFLE_ENABLED: {
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'train': True,
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'test': False
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}
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- NAME: transform_points_to_voxels
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VOXEL_SIZE: [0.16, 0.16, 4]
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MAX_POINTS_PER_VOXEL: 32
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MAX_NUMBER_OF_VOXELS: {
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'train': 16000,
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'test': 40000
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}
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DATA_AUGMENTOR:
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DISABLE_AUG_LIST: ['placeholder']
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AUG_CONFIG_LIST:
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- NAME: gt_sampling
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USE_ROAD_PLANE: True
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DB_INFO_PATH:
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- kitti_dbinfos_train.pkl
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PREPARE: {
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filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
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filter_by_difficulty: [-1],
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}
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SAMPLE_GROUPS: ['Car:15','Pedestrian:15', 'Cyclist:15']
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NUM_POINT_FEATURES: 4
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DATABASE_WITH_FAKELIDAR: False
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REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
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LIMIT_WHOLE_SCENE: False
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- NAME: random_world_flip
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ALONG_AXIS_LIST: ['x']
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- NAME: random_world_rotation
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WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
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- NAME: random_world_scaling
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WORLD_SCALE_RANGE: [0.95, 1.05]
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MODEL:
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NAME: PointPillar
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VFE:
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NAME: PillarVFE
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WITH_DISTANCE: False
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USE_ABSLOTE_XYZ: True
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USE_NORM: True
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NUM_FILTERS: [64]
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MAP_TO_BEV:
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NAME: PointPillarScatter
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NUM_BEV_FEATURES: 64
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BACKBONE_2D:
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NAME: BaseBEVBackbone
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LAYER_NUMS: [3, 5, 5]
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LAYER_STRIDES: [2, 2, 2]
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NUM_FILTERS: [64, 128, 256]
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UPSAMPLE_STRIDES: [1, 2, 4]
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NUM_UPSAMPLE_FILTERS: [128, 128, 128]
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DENSE_HEAD:
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NAME: AnchorHeadSingle
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CLASS_AGNOSTIC: False
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USE_DIRECTION_CLASSIFIER: True
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DIR_OFFSET: 0.78539
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DIR_LIMIT_OFFSET: 0.0
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NUM_DIR_BINS: 2
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ANCHOR_GENERATOR_CONFIG: [
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{
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'class_name': 'Car',
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'anchor_sizes': [[3.9, 1.6, 1.56]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-1.78],
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'align_center': False,
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'feature_map_stride': 2,
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'matched_threshold': 0.6,
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'unmatched_threshold': 0.45
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},
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{
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'class_name': 'Pedestrian',
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'anchor_sizes': [[0.8, 0.6, 1.73]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-0.6],
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'align_center': False,
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'feature_map_stride': 2,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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},
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{
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'class_name': 'Cyclist',
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'anchor_sizes': [[1.76, 0.6, 1.73]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-0.6],
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'align_center': False,
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'feature_map_stride': 2,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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}
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]
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TARGET_ASSIGNER_CONFIG:
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NAME: AxisAlignedTargetAssigner
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POS_FRACTION: -1.0
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SAMPLE_SIZE: 512
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NORM_BY_NUM_EXAMPLES: False
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MATCH_HEIGHT: False
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BOX_CODER: ResidualCoder
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 2.0,
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'dir_weight': 0.2,
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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}
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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SCORE_THRESH: 0.1
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OUTPUT_RAW_SCORE: False
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EVAL_METRIC: kitti
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NMS_CONFIG:
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MULTI_CLASSES_NMS: False
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.01
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NMS_PRE_MAXSIZE: 4096
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NMS_POST_MAXSIZE: 500
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 4
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NUM_EPOCHS: 80
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OPTIMIZER: adam_onecycle
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LR: 0.003
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WEIGHT_DECAY: 0.01
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.4
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DIV_FACTOR: 10
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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LR_CLIP: 0.0000001
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LR_WARMUP: False
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WARMUP_EPOCH: 1
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GRAD_NORM_CLIP: 10
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