pointpillar.yaml

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