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CLASS_NAMES: ['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist'] |
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DATA_CONFIG: |
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_BASE_CONFIG_: cfgs/dataset_configs/once_dataset.yaml |
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MODEL: |
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NAME: CenterPoint |
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VFE: |
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NAME: MeanVFE |
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BACKBONE_3D: |
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NAME: VoxelResBackBone8x |
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MAP_TO_BEV: |
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NAME: HeightCompression |
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NUM_BEV_FEATURES: 256 |
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BACKBONE_2D: |
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NAME: BaseBEVBackbone |
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LAYER_NUMS: [5, 5] |
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LAYER_STRIDES: [1, 2] |
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NUM_FILTERS: [128, 256] |
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UPSAMPLE_STRIDES: [1, 2] |
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NUM_UPSAMPLE_FILTERS: [256, 256] |
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DENSE_HEAD: |
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NAME: CenterHead |
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CLASS_AGNOSTIC: False |
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CLASS_NAMES_EACH_HEAD: [ |
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['Car', 'Bus', 'Truck', 'Pedestrian', 'Cyclist'] |
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] |
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SHARED_CONV_CHANNEL: 64 |
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USE_BIAS_BEFORE_NORM: True |
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NUM_HM_CONV: 2 |
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SEPARATE_HEAD_CFG: |
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HEAD_ORDER: ['center', 'center_z', 'dim', 'rot'] |
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HEAD_DICT: { |
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'center': {'out_channels': 2, 'num_conv': 2}, |
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'center_z': {'out_channels': 1, 'num_conv': 2}, |
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'dim': {'out_channels': 3, 'num_conv': 2}, |
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'rot': {'out_channels': 2, 'num_conv': 2}, |
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} |
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TARGET_ASSIGNER_CONFIG: |
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FEATURE_MAP_STRIDE: 8 |
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NUM_MAX_OBJS: 500 |
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GAUSSIAN_OVERLAP: 0.1 |
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MIN_RADIUS: 2 |
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DENSE_REG: 1 |
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LOSS_CONFIG: |
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LOSS_WEIGHTS: { |
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'cls_weight': 1.0, |
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'loc_weight': 1.0, |
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] |
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} |
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POST_PROCESSING: |
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SCORE_THRESH: 0.1 |
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POST_CENTER_LIMIT_RANGE: [-75.2, -75.2, -5.0, 75.2, 75.2, 3.0] |
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MAX_OBJ_PER_SAMPLE: 500 |
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NMS_CONFIG: |
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MULTI_CLASSES_NMS: False |
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NMS_TYPE: nms_gpu |
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NMS_THRESH: 0.01 |
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NMS_PRE_MAXSIZE: 4096 |
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NMS_POST_MAXSIZE: 500 |
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POST_PROCESSING: |
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7] |
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OUTPUT_RAW_SCORE: False |
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EVAL_METRIC: once |
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OPTIMIZATION: |
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BATCH_SIZE_PER_GPU: 4 |
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NUM_EPOCHS: 80 |
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OPTIMIZER: adam_onecycle |
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LR: 0.003 |
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WEIGHT_DECAY: 0.01 |
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MOMENTUM: 0.9 |
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MOMS: [0.95, 0.85] |
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PCT_START: 0.4 |
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DIV_FACTOR: 10 |
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DECAY_STEP_LIST: [35, 45] |
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LR_DECAY: 0.1 |
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LR_CLIP: 0.0000001 |
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LR_WARMUP: False |
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WARMUP_EPOCH: 1 |
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GRAD_NORM_CLIP: 35 |
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