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pointpillar_1x_feat_3_vehi.yaml
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pointpillar_1x_feat_3_vehi.yaml
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CLASS_NAMES: ['Vehicle']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/waymo/DA/da_waymo_dataset.yaml
POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': True
}
- NAME: transform_points_to_voxels
VOXEL_SIZE: [ 0.32, 0.32, 6.0 ]
MAX_POINTS_PER_VOXEL: 20
MAX_NUMBER_OF_VOXELS: {
'train': 150000,
'test': 150000
}
MODEL:
NAME: PointPillar
VFE:
NAME: PillarVFE
WITH_DISTANCE: False
USE_ABSLOTE_XYZ: True
USE_NORM: True
NUM_FILTERS: [ 64, 64 ]
MAP_TO_BEV:
NAME: PointPillarScatter
NUM_BEV_FEATURES: 64
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [ 3, 5, 5 ]
LAYER_STRIDES: [ 1, 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': 'Vehicle',
'anchor_sizes': [ [ 4.7, 2.1, 1.7 ] ],
'anchor_rotations': [ 0, 1.57 ],
'anchor_bottom_heights': [ 0 ],
'align_center': False,
'feature_map_stride': 1,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
}
]
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: waymo
NMS_CONFIG:
MULTI_CLASSES_NMS: False
NMS_TYPE: nms_gpu
NMS_THRESH: 0.7
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 4
NUM_EPOCHS: 30
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