| 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: shuffle_points |
| SHUFFLE_ENABLED: { |
| 'train': True, |
| 'test': False |
| } |
|
|
| - NAME: transform_points_to_voxels |
| VOXEL_SIZE: [0.1, 0.1, 0.2] |
| MAX_POINTS_PER_VOXEL: 5 |
| MAX_NUMBER_OF_VOXELS: { |
| 'train': 60000, |
| 'test': 60000 |
| } |
| COMPUTE_VOXEL_CENTERS: True |
|
|
| MODEL: |
| NAME: SARA3D |
| |
| |
| USE_ACA: True |
| |
| |
| ACA_CONFIG: |
| USE_DENSITY: True |
| USE_CURVATURE: True |
| USE_NORMALS: True |
| |
| VFE: |
| NAME: RESAVFE |
| USE_NORM: True |
| USE_RESA: True |
| WITH_DISTANCE: True |
| NUM_FILTERS: [64, 64] |
|
|
| BACKBONE_3D: |
| NAME: VoxelResBackBone8x |
|
|
| 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: CenterHead |
| CLASS_AGNOSTIC: False |
|
|
| CLASS_NAMES_EACH_HEAD: [ |
| ['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist'] |
| ] |
|
|
| SHARED_CONV_CHANNEL: 64 |
| USE_BIAS_BEFORE_NORM: True |
| NUM_HM_CONV: 2 |
| SEPARATE_HEAD_CFG: |
| HEAD_ORDER: ['center', 'center_z', 'dim', 'rot'] |
| HEAD_DICT: { |
| 'center': {'out_channels': 2, 'num_conv': 2}, |
| 'center_z': {'out_channels': 1, 'num_conv': 2}, |
| 'dim': {'out_channels': 3, 'num_conv': 2}, |
| 'rot': {'out_channels': 2, 'num_conv': 2}, |
| } |
|
|
| TARGET_ASSIGNER_CONFIG: |
| FEATURE_MAP_STRIDE: 8 |
| NUM_MAX_OBJS: 500 |
| GAUSSIAN_OVERLAP: 0.1 |
| MIN_RADIUS: 2 |
| DENSE_REG: 1 |
|
|
| LOSS_CONFIG: |
| LOSS_WEIGHTS: { |
| 'cls_weight': 1.0, |
| 'loc_weight': 1.0, |
| 'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] |
| } |
|
|
| POST_PROCESSING: |
| SCORE_THRESH: 0.1 |
| POST_CENTER_LIMIT_RANGE: [-75.2, -75.2, -5.0, 75.2, 75.2, 3.0] |
| MAX_OBJ_PER_SAMPLE: 500 |
| NMS_CONFIG: |
| MULTI_CLASSES_NMS: False |
| NMS_TYPE: nms_gpu |
| NMS_THRESH: 0.01 |
| NMS_PRE_MAXSIZE: 4096 |
| NMS_POST_MAXSIZE: 500 |
| |
|
|
| POST_PROCESSING: |
| RECALL_THRESH_LIST: [0.3, 0.5, 0.7] |
| OUTPUT_RAW_SCORE: False |
| EVAL_METRIC: once |
|
|
| 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: 35 |
