second_dsa.yaml

CLASS_NAMES: ['Car']

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

    ENCODER_2D:
      NAME: BaseBEVEncoder
      LAYER_NUMS: [ 5, 5 ]
      LAYER_STRIDES: [ 1, 2 ]
      NUM_FILTERS: [ 128, 128 ]

    CFE:
      NAME: VoxelContext3D_dsa
      NUM_BEV_FEATURES: 64
      IN_DIM: 64
      NUM_KEYPOINTS: 2048
      LOCAL_CONTEXT:
        MLPS: [ [ 64 ] ]
        DEFORM_RADIUS: [ 4 ]
        POOL_RADIUS: [ 4 ]
        NSAMPLE: [ 32 ]
        POOL_METHOD: max_pool
      DECODE:
        MLPS: [ [ 64 ] ]
        POOL_RADIUS: [ 1.6 ]
        NSAMPLE: [ 16 ]
        POOL_METHOD: max_pool

    DECODER_2D:
      NAME: ConcatVoxelDecoder
      CONCAT_WINDOW: 1
      CONCAT_PADDING: 0
      ATTN_DIM: 128
      NUM_FILTERS: [ 128, 128 ]
      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: 2
    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