secondiou_sn.yaml

CLASS_NAMES: ['Vehicle']

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/da_waymo_lyft_dataset.yaml
    PROCESSED_DATA_TAG: 'waymo_processed_data'
    INFO_WITH_FAKELIDAR: False

    DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['random_object_rotation', 'random_object_scaling']
    AUG_CONFIG_LIST:
      - NAME: random_object_scaling
        SCALE_UNIFORM_NOISE: [0.7, 1.0]

      - NAME: normalize_object_size
        SIZE_RES: [-0.07, -0.2, -0.08]

      - NAME: random_object_rotation
        ROT_PROB: 1.0
        ROT_UNIFORM_NOISE: [-0.78539816, 0.78539816]

      - NAME: random_world_flip
        ALONG_AXIS_LIST: ['x', 'y']

      - NAME: random_world_rotation
        WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]

      - NAME: random_world_scaling
        WORLD_SCALE_RANGE: [0.95, 1.05]


    DATA_PROCESSOR:
      - NAME: mask_boxes_outside_length
        LENGTH_RANGE: [0.0, 10.0]
        
      - 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: [0.1, 0.1, 0.15]
        MAX_POINTS_PER_VOXEL: 5
        MAX_NUMBER_OF_VOXELS: {
          'train': 80000,
          'test': 90000
        }

DATA_CONFIG_TAR:
    _BASE_CONFIG_: cfgs/dataset_configs/da_lyft_dataset.yaml
    TARGET: True
    CLASS_NAMES: ['car']
    SHIFT_COOR: [0.0, 0.0, 1.8]

MODEL:
    NAME: SECONDNetIoU

    VFE:
        NAME: MeanVFE

    BACKBONE_3D:
        NAME: VoxelBackBone8x

    MAP_TO_BEV:
        NAME: HeightCompression
        NUM_BEV_FEATURES: 256

    BACKBONE_2D:
        NAME: BaseBEVBackbone

        LAYER_NUMS: [5, 5]
        LAYER_STRIDES: [1, 2]
        NUM_FILTERS: [128, 256]
        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': 'Vehicle',
                'anchor_sizes': [[4.7, 2.1, 1.7]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [0],
                'align_center': False,
                'feature_map_stride': 8,
                '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]
            }

    ROI_HEAD:
        NAME: SECONDHead
        CLASS_AGNOSTIC: True

        SHARED_FC: [256, 256]
        IOU_FC: [256, 256]
        DP_RATIO: 0.3

        NMS_CONFIG:
            TRAIN:
                NMS_TYPE: nms_gpu
                MULTI_CLASSES_NMS: False
                NMS_PRE_MAXSIZE: 9000
                NMS_POST_MAXSIZE: 512
                NMS_THRESH: 0.8
            TEST:
                NMS_TYPE: nms_gpu
                MULTI_CLASSES_NMS: False
                NMS_PRE_MAXSIZE: 1024
                NMS_POST_MAXSIZE: 100
                NMS_THRESH: 0.7

        ROI_GRID_POOL:
            GRID_SIZE: 7
            IN_CHANNEL: 512
            DOWNSAMPLE_RATIO: 8

        TARGET_CONFIG:
            BOX_CODER: ResidualCoder
            ROI_PER_IMAGE: 128
            FG_RATIO: 0.5

            SAMPLE_ROI_BY_EACH_CLASS: True
            CLS_SCORE_TYPE: raw_roi_iou

            CLS_FG_THRESH: 0.75
            CLS_BG_THRESH: 0.25
            CLS_BG_THRESH_LO: 0.1
            HARD_BG_RATIO: 0.8

            REG_FG_THRESH: 0.55

        LOSS_CONFIG:
            IOU_LOSS: BinaryCrossEntropy
            LOSS_WEIGHTS: {
                'rcnn_iou_weight': 1.0,
                '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:
    NUM_EPOCHS: 30
    BATCH_SIZE_PER_GPU: 4
    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