config_overview

{'ROOT_DIR': PosixPath('/home/xkx/occam'),
'LOCAL_RANK': 0,
'CLASS_NAMES': ['Car', 'Pedestrian', 'Cyclist'],
'DATA_CONFIG':
{'DATASET': 'KittiDataset',
'DATA_PATH': '../data/kitti',
'POINT_CLOUD_RANGE': [0, -40, -3, 70.4, 40, 1],
'DATA_SPLIT': {'train': 'train', 'test': 'val'},
'INFO_PATH': {'train': ['kitti_infos_train.pkl'],
'test': ['kitti_infos_val.pkl']},
'GET_ITEM_LIST': ['points'],
'FOV_POINTS_ONLY': True,
'DATA_AUGMENTOR':
{'DISABLE_AUG_LIST': ['placeholder'],
'AUG_CONFIG_LIST':
[{'NAME': 'gt_sampling',
'USE_ROAD_PLANE': True,
'DB_INFO_PATH': ['kitti_dbinfos_train.pkl'],
'PREPARE':
{'filter_by_min_points': ['Car:5', 'Pedestrian:5', 'Cyclist:5'], 'filter_by_difficulty': [-1]}, 'SAMPLE_GROUPS': ['Car:20', 'Pedestrian:15', 'Cyclist:15'], 'NUM_POINT_FEATURES': 4, 'DATABASE_WITH_FAKELIDAR': False, 'REMOVE_EXTRA_WIDTH': [0.0, 0.0, 0.0], 'LIMIT_WHOLE_SCENE': True}, {'NAME': 'random_world_flip', 'ALONG_AXIS_LIST': ['x']}, {'NAME': 'random_world_rotation', 'WORLD_ROT_ANGLE': [-0.78539816, 0.78539816]}, {'NAME': 'random_world_scaling', 'WORLD_SCALE_RANGE': [0.95, 1.05]}]}, 'POINT_FEATURE_ENCODING': {'encoding_type': 'absolute_coordinates_encoding', 'used_feature_list': ['x', 'y', 'z', 'intensity'], 'src_feature_list': ['x', 'y', 'z', 'intensity']}, 'DATA_PROCESSOR': [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': True}, {'NAME': 'shuffle_points', 'SHUFFLE_ENABLED': {'train': True, 'test': False}}, {'NAME': 'transform_points_to_voxels', 'VOXEL_SIZE': [0.05, 0.05, 0.1], 'MAX_POINTS_PER_VOXEL': 5, 'MAX_NUMBER_OF_VOXELS': {'train': 16000, 'test': 40000}}], '_BASE_CONFIG_': 'cfgs/dataset_configs/kitti_dataset.yaml'}, 'MODEL': {'NAME': 'SECONDNet', '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': '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': 4, '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': 1e-07, 'LR_WARMUP': False, 'WARMUP_EPOCH': 1, 'GRAD_NORM_CLIP': 10}, 'OCCAM': {'NAME': 'OccAM', 'FOV_CROP': True, 'FOV_ANGLE': 42, 'SAMPLING': {'NAME': 'Sampling', 'RANDOM_ROT': 5, 'VOXEL_SIZE': [0.2, 0.2, 0.2], 'MAX_PTS_PER_VOXEL': 200, 'MAX_VOXELS': 20000, 'DENSITY_DISTR_COEFF': [0.0055795, 0.23362617, 2.52680692], 'LAMBDA': 0.01226}}}