-
Notifications
You must be signed in to change notification settings - Fork 32
/
second_red.yaml
121 lines (99 loc) · 3.01 KB
/
second_red.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
MODEL:
NAME: SECONDNet
VFE:
NAME: MeanVFE
BACKBONE_3D:
NAME: SlimVoxelBackBone8x
MAP_TO_BEV:
NAME: HeightCompression
NUM_BEV_FEATURES: 128
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [5, 5]
LAYER_STRIDES: [1, 2]
NUM_FILTERS: [128, 160]
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': [[3.9, 1.6, 1.56]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.78],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': 'Pedestrian',
'anchor_sizes': [[0.8, 0.6, 1.73]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': 'Cyclist',
'anchor_sizes': [[1.76, 0.6, 1.73]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'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: kitti
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