# model settings
voxel_size = [0.05, 0.05, 0.1]
point_cloud_range = [0, -40, -3, 70.4, 40, 1]  # velodyne coordinates, x, y, z

model = dict(
    type='PartA2',
    voxel_layer=dict(
        max_num_points=5,  # max_points_per_voxel
        point_cloud_range=point_cloud_range,
        voxel_size=voxel_size,
        max_voxels=(16000, 40000)  # (training, testing) max_coxels
    ),
    voxel_encoder=dict(type='HardSimpleVFE'),
    middle_encoder=dict(
        type='SparseUNet',
        in_channels=4,
        sparse_shape=[41, 1600, 1408],
        order=('conv', 'norm', 'act')),
    backbone=dict(
        type='SECOND',
        in_channels=256,
        layer_nums=[5, 5],
        layer_strides=[1, 2],
        out_channels=[128, 256]),
    neck=dict(
        type='SECONDFPN',
        in_channels=[128, 256],
        upsample_strides=[1, 2],
        out_channels=[256, 256]),
    rpn_head=dict(
        type='PartA2RPNHead',
        num_classes=3,
        in_channels=512,
        feat_channels=512,
        use_direction_classifier=True,
        anchor_generator=dict(
            type='Anchor3DRangeGenerator',
            ranges=[[0, -40.0, -0.6, 70.4, 40.0, -0.6],
                    [0, -40.0, -0.6, 70.4, 40.0, -0.6],
                    [0, -40.0, -1.78, 70.4, 40.0, -1.78]],
            sizes=[[0.6, 0.8, 1.73], [0.6, 1.76, 1.73], [1.6, 3.9, 1.56]],
            rotations=[0, 1.57],
            reshape_out=False),
        diff_rad_by_sin=True,
        assigner_per_size=True,
        assign_per_class=True,
        bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
        loss_cls=dict(
            type='FocalLoss',
            use_sigmoid=True,
            gamma=2.0,
            alpha=0.25,
            loss_weight=1.0),
        loss_bbox=dict(type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=2.0),
        loss_dir=dict(
            type='CrossEntropyLoss', use_sigmoid=False, loss_weight=0.2)),
    roi_head=dict(
        type='PartAggregationROIHead',
        num_classes=3,
        semantic_head=dict(
            type='PointwiseSemanticHead',
            in_channels=16,
            extra_width=0.2,
            seg_score_thr=0.3,
            num_classes=3,
            loss_seg=dict(
                type='FocalLoss',
                use_sigmoid=True,
                reduction='sum',
                gamma=2.0,
                alpha=0.25,
                loss_weight=1.0),
            loss_part=dict(
                type='CrossEntropyLoss', use_sigmoid=True, loss_weight=1.0)),
        seg_roi_extractor=dict(
            type='Single3DRoIAwareExtractor',
            roi_layer=dict(
                type='RoIAwarePool3d',
                out_size=14,
                max_pts_per_voxel=128,
                mode='max')),
        part_roi_extractor=dict(
            type='Single3DRoIAwareExtractor',
            roi_layer=dict(
                type='RoIAwarePool3d',
                out_size=14,
                max_pts_per_voxel=128,
                mode='avg')),
        bbox_head=dict(
            type='PartA2BboxHead',
            num_classes=3,
            seg_in_channels=16,
            part_in_channels=4,
            seg_conv_channels=[64, 64],
            part_conv_channels=[64, 64],
            merge_conv_channels=[128, 128],
            down_conv_channels=[128, 256],
            bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
            shared_fc_channels=[256, 512, 512, 512],
            cls_channels=[256, 256],
            reg_channels=[256, 256],
            dropout_ratio=0.1,
            roi_feat_size=14,
            with_corner_loss=True,
            loss_bbox=dict(
                type='SmoothL1Loss',
                beta=1.0 / 9.0,
                reduction='sum',
                loss_weight=1.0),
            loss_cls=dict(
                type='CrossEntropyLoss',
                use_sigmoid=True,
                reduction='sum',
                loss_weight=1.0))))
# model training and testing settings
train_cfg = dict(
    rpn=dict(
        assigner=[
            dict(  # for Pedestrian
                type='MaxIoUAssigner',
                iou_calculator=dict(type='BboxOverlapsNearest3D'),
                pos_iou_thr=0.5,
                neg_iou_thr=0.35,
                min_pos_iou=0.35,
                ignore_iof_thr=-1),
            dict(  # for Cyclist
                type='MaxIoUAssigner',
                iou_calculator=dict(type='BboxOverlapsNearest3D'),
                pos_iou_thr=0.5,
                neg_iou_thr=0.35,
                min_pos_iou=0.35,
                ignore_iof_thr=-1),
            dict(  # for Car
                type='MaxIoUAssigner',
                iou_calculator=dict(type='BboxOverlapsNearest3D'),
                pos_iou_thr=0.6,
                neg_iou_thr=0.45,
                min_pos_iou=0.45,
                ignore_iof_thr=-1)
        ],
        allowed_border=0,
        pos_weight=-1,
        debug=False),
    rpn_proposal=dict(
        nms_pre=9000,
        nms_post=512,
        max_num=512,
        nms_thr=0.8,
        score_thr=0,
        use_rotate_nms=False),
    rcnn=dict(
        assigner=[
            dict(  # for Pedestrian
                type='MaxIoUAssigner',
                iou_calculator=dict(type='BboxOverlaps3D', coordinate='lidar'),
                pos_iou_thr=0.55,
                neg_iou_thr=0.55,
                min_pos_iou=0.55,
                ignore_iof_thr=-1),
            dict(  # for Cyclist
                type='MaxIoUAssigner',
                iou_calculator=dict(type='BboxOverlaps3D', coordinate='lidar'),
                pos_iou_thr=0.55,
                neg_iou_thr=0.55,
                min_pos_iou=0.55,
                ignore_iof_thr=-1),
            dict(  # for Car
                type='MaxIoUAssigner',
                iou_calculator=dict(type='BboxOverlaps3D', coordinate='lidar'),
                pos_iou_thr=0.55,
                neg_iou_thr=0.55,
                min_pos_iou=0.55,
                ignore_iof_thr=-1)
        ],
        sampler=dict(
            type='IoUNegPiecewiseSampler',
            num=128,
            pos_fraction=0.55,
            neg_piece_fractions=[0.8, 0.2],
            neg_iou_piece_thrs=[0.55, 0.1],
            neg_pos_ub=-1,
            add_gt_as_proposals=False,
            return_iou=True),
        cls_pos_thr=0.75,
        cls_neg_thr=0.25))
test_cfg = dict(
    rpn=dict(
        nms_pre=1024,
        nms_post=100,
        max_num=100,
        nms_thr=0.7,
        score_thr=0,
        use_rotate_nms=True),
    rcnn=dict(
        use_rotate_nms=True, use_raw_score=True, nms_thr=0.01, score_thr=0.3))

# dataset settings
dataset_type = 'KittiDataset'
data_root = 'data/kitti/'
class_names = ['Pedestrian', 'Cyclist', 'Car']
input_modality = dict(use_lidar=True, use_camera=False)
db_sampler = dict(
    data_root=data_root,
    info_path=data_root + 'kitti_dbinfos_train.pkl',
    rate=1.0,
    prepare=dict(
        filter_by_difficulty=[-1],
        filter_by_min_points=dict(Car=5, Pedestrian=5, Cyclist=5)),
    classes=class_names,
    sample_groups=dict(Car=20, Pedestrian=15, Cyclist=15))
train_pipeline = [
    dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
    dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
    dict(type='ObjectSample', db_sampler=db_sampler),
    dict(type='RandomFlip3D', flip_ratio_bev_horizontal=0.5),
    dict(
        type='GlobalRotScaleTrans',
        rot_range=[-0.78539816, 0.78539816],
        scale_ratio_range=[0.95, 1.05]),
    dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
    dict(type='ObjectRangeFilter', point_cloud_range=point_cloud_range),
    dict(type='ObjectNameFilter', classes=class_names),
    dict(type='PointShuffle'),
    dict(type='DefaultFormatBundle3D', class_names=class_names),
    dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d'])
]
test_pipeline = [
    dict(type='LoadPointsFromFile', load_dim=4, use_dim=4),
    dict(
        type='MultiScaleFlipAug3D',
        img_scale=(1333, 800),
        pts_scale_ratio=1,
        flip=False,
        transforms=[
            dict(
                type='GlobalRotScaleTrans',
                rot_range=[0, 0],
                scale_ratio_range=[1., 1.],
                translation_std=[0, 0, 0]),
            dict(type='RandomFlip3D'),
            dict(
                type='PointsRangeFilter', point_cloud_range=point_cloud_range),
            dict(
                type='DefaultFormatBundle3D',
                class_names=class_names,
                with_label=False),
            dict(type='Collect3D', keys=['points'])
        ])
]

data = dict(
    samples_per_gpu=4,
    workers_per_gpu=4,
    train=dict(
        type='RepeatDataset',
        times=2,
        dataset=dict(
            type=dataset_type,
            data_root=data_root,
            ann_file=data_root + 'kitti_infos_train.pkl',
            split='training',
            pts_prefix='velodyne_reduced',
            pipeline=train_pipeline,
            modality=input_modality,
            classes=class_names,
            test_mode=False)),
    val=dict(
        type=dataset_type,
        data_root=data_root,
        ann_file=data_root + 'kitti_infos_val.pkl',
        split='training',
        pts_prefix='velodyne_reduced',
        pipeline=test_pipeline,
        modality=input_modality,
        classes=class_names,
        test_mode=True),
    test=dict(
        type=dataset_type,
        data_root=data_root,
        ann_file=data_root + 'kitti_infos_val.pkl',
        split='training',
        pts_prefix='velodyne_reduced',
        pipeline=test_pipeline,
        modality=input_modality,
        classes=class_names,
        test_mode=True))
# optimizer
lr = 0.001  # max learning rate
optimizer = dict(type='AdamW', lr=lr, betas=(0.95, 0.99), weight_decay=0.01)
optimizer_config = dict(grad_clip=dict(max_norm=10, norm_type=2))
lr_config = dict(
    policy='cyclic',
    target_ratio=(10, 1e-4),
    cyclic_times=1,
    step_ratio_up=0.4)
momentum_config = dict(
    policy='cyclic',
    target_ratio=(0.85 / 0.95, 1),
    cyclic_times=1,
    step_ratio_up=0.4)
checkpoint_config = dict(interval=1)
evaluation = dict(interval=1)
# yapf:disable
log_config = dict(
    interval=50,
    hooks=[
        dict(type='TextLoggerHook'),
        dict(type='TensorboardLoggerHook')
    ])
# yapf:enable
# runtime settings
total_epochs = 40
dist_params = dict(backend='nccl', port=29506)
log_level = 'INFO'
find_unused_parameters = True
work_dir = './work_dirs/parta2_secfpn_80e'
load_from = None
resume_from = None
workflow = [('train', 1)]
