add lyft cfgs

tools/cfgs/dataset_configs/lyft_dataset.yaml

+DATASET: 'LyftDataset'
+DATA_PATH: '../data/lyft'
+
+VERSION: 'trainval'
+SET_NAN_VELOCITY_TO_ZEROS: True
+FILTER_MIN_POINTS_IN_GT: 1
+MAX_SWEEPS: 5
+EVAL_LYFT_IOU_LIST: [0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95]
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+
+INFO_PATH: {
+    'train': [lyft_infos_train.pkl],
+    'test': [lyft_infos_val.pkl],
+}
+
+POINT_CLOUD_RANGE: [-80.0, -80.0, -5.0, 80.0, 80.0, 3.0]
+
+DATA_AUGMENTOR:
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+        - NAME: gt_sampling
+          DB_INFO_PATH:
+              - lyft_dbinfos_10sweeps.pkl
+          PREPARE: {
+             filter_by_min_points: [
+                 'car:5','pedestrian:5', 'motorcycle:5', 'bicycle:5', 'other_vehicle:5',
+                 'bus:5', 'truck:5', 'emergency_vehicle:5', 'animal:5'
+             ],
+          }
+
+          SAMPLE_GROUPS: [
+              'car:3','pedestrian:3', 'motorcycle:6', 'bicycle:6', 'other_vehicle:4',
+              'bus:4', 'truck:3', 'emergency_vehicle:7', 'animal:3'
+          ]
+
+          NUM_POINT_FEATURES: 5
+          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', 'y']
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [-0.3925, 0.3925]
+
+        - 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', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+
+
+DATA_PROCESSOR:
+    - 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, 0.2]
+      MAX_POINTS_PER_VOXEL: 10
+      MAX_NUMBER_OF_VOXELS: {
+        'train': 80000,
+        'test': 80000
+      }
\ No newline at end of file

tools/cfgs/lyft_models/cbgs_second_multihead.yaml

+CLASS_NAMES: ['car','truck', 'bus', 'emergency_vehicle', 'other_vehicle',
+              'motorcycle', 'bicycle', 'pedestrian', 'animal']
+
+DATA_CONFIG:
+    _BASE_CONFIG_: cfgs/dataset_configs/lyft_dataset.yaml
+
+
+MODEL:
+    NAME: SECONDNet
+
+    VFE:
+        NAME: MeanVFE
+
+    BACKBONE_3D:
+        NAME: VoxelResBackBone8x
+
+    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: AnchorHeadMulti
+        CLASS_AGNOSTIC: False
+
+        DIR_OFFSET: 0.78539
+        DIR_LIMIT_OFFSET: 0.0
+        NUM_DIR_BINS: 2
+
+        USE_MULTIHEAD: True
+        SEPARATE_MULTIHEAD: True
+        ANCHOR_GENERATOR_CONFIG: [
+            {
+                'class_name': car,
+                'anchor_sizes': [[4.75, 1.92, 1.71]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.07],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.6,
+                'unmatched_threshold': 0.45
+            },
+            {
+                'class_name': truck,
+                'anchor_sizes': [[10.24, 2.84, 3.44]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.30],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.55,
+                'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': bus,
+                'anchor_sizes': [[12.70, 2.92, 3.42]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.35],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.55,
+                'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': emergency_vehicle,
+                'anchor_sizes': [[6.52, 2.42, 2.34]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.89],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            },
+            {
+                'class_name': other_vehicle,
+                'anchor_sizes': [[8.17, 2.75, 3.20]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.63],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.55,
+                'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': motorcycle,
+                'anchor_sizes': [[2.35, 0.96, 1.59]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.32],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.3
+            },
+            {
+                'class_name': bicycle,
+                'anchor_sizes': [[1.76, 0.63, 1.44]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.07],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.5,
+                'unmatched_threshold': 0.35
+            },
+            {
+                'class_name': pedestrian,
+                'anchor_sizes': [[0.80, 0.76, 1.76]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.91],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.6,
+                'unmatched_threshold': 0.4
+            },
+            {
+                'class_name': animal,
+                'anchor_sizes': [[0.73, 0.35, 0.5]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.80],
+                'align_center': False,
+                'feature_map_stride': 8,
+                'matched_threshold': 0.45,
+                'unmatched_threshold': 0.3
+            },
+        ]
+
+        SHARED_CONV_NUM_FILTER: 64
+        RPN_HEAD_CFGS: [
+            {
+                'HEAD_CLS_NAME': ['car'],
+            },
+            {
+                'HEAD_CLS_NAME': ['truck', 'bus'],
+            },
+            {
+                'HEAD_CLS_NAME': ['emergency_vehicle', 'other_vehicle'],
+            },
+            {
+                'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
+            },
+            {
+                'HEAD_CLS_NAME': ['pedestrian', 'animal'],
+            },
+        ]
+
+        SEPARATE_REG_CONFIG: 
+            NUM_MIDDLE_CONV: 1
+            NUM_MIDDLE_FILTER: 64
+            REG_LIST: ['reg:2', 'height:1', 'size:3', 'angle:2']
+
+        TARGET_ASSIGNER_CONFIG:
+            NAME: AxisAlignedTargetAssigner
+            POS_FRACTION: -1.0
+            SAMPLE_SIZE: 512
+            NORM_BY_NUM_EXAMPLES: False
+            MATCH_HEIGHT: False
+            BOX_CODER: ResidualCoder
+            BOX_CODER_CONFIG: {
+                'code_size': 7,
+                'encode_angle_by_sincos': True
+            }
+
+
+        LOSS_CONFIG:
+            REG_LOSS_TYPE: WeightedL1Loss
+            LOSS_WEIGHTS: {
+                'pos_cls_weight': 1.0,
+                'neg_cls_weight': 2.0,
+                'cls_weight': 1.0,
+                'loc_weight': 0.25,
+                'dir_weight': 0.2,
+                'code_weights': [1.0, 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: lyft
+
+        NMS_CONFIG:
+            MULTI_CLASSES_NMS: True
+            NMS_TYPE: nms_gpu
+            NMS_THRESH: 0.2
+            NMS_PRE_MAXSIZE: 1000
+            NMS_POST_MAXSIZE: 83
+
+
+OPTIMIZATION:
+    BATCH_SIZE_PER_GPU: 3
+    NUM_EPOCHS: 50
+
+    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