/
config_server_kitti.yaml
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/
config_server_kitti.yaml
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# common config
save_path: "../../experiments/PMF-SemanticKitti/"
seed: 1
gpu: "0,1,2,3"
print_frequency: 2
n_threads: 4
experiment_id: "baseline_timestamp"
# data conifg
val_only: false
has_label: true
is_debug: false
n_epochs: 50
batch_size: [2, 4]
lr: 0.001
warmup_epochs: 1
momentum: 0.9
weight_decay: 0.00001
val_frequency: 1
dataset: "SemanticKitti"
nclasses: 20 # 19+1(ignored)
data_root: "/path/to/semantic-kitti-fov/sequences"
base_channels: 32
img_backbone: "resnet34"
imagenet_pretrained: true
lambda: 1.0 # weight of lovasz-softmax loss
gamma: 0.5 # weight of perception-aware loss
tau: 0.7 # confidence threshold
# cehckpoint model
checkpoint: null
pretrained_model: null
### data augmentation config ---------------------
augmentation:
# flip
p_flipx: 0.
p_flipy: 0.5
# translation
p_transx: 0.5
trans_xmin: -5
trans_xmax: 5
p_transy: 0.5
trans_ymin: -3
trans_ymax: 3
p_transz: 0.5
trans_zmin: -1
trans_zmax: 0.
# rotation
p_rot_roll: 0.5
rot_rollmin: -5
rot_rollmax: 5
p_rot_pitch: 0.5
rot_pitchmin: -5
rot_pitchmax: 5
p_rot_yaw: 0.5
rot_yawmin: 5
rot_yawmax: -5
# img jitter
img_jitter: [0.4, 0.4, 0.4]
sensor:
name: "HDL64"
type: "perception-aware"
# crop size of validation samples
proj_h: 384
proj_w: 1232
# crop size of training samples
proj_ht: 256
proj_wt: 1024
h_pad: 7
w_pad: 3
img_mean:
- 12.12
- 10.88
- 0.23
- -1.04
- 0.21
img_stds:
- 12.32
- 11.47
- 6.91
- 0.86
- 0.16
post:
KNN:
use: false # This parameter default is false
params:
knn: 5
search: 5
sigma: 1.0
cutoff: 1.0