update config of pointpillar

tools/cfgs/dataset_configs/kitti_dataset_pointpillar.yaml

-DATASET: 'KittiDataset'
-DATA_PATH: '../data/kitti'
-
-POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]
-
-DATA_SPLIT: {
-    'train': train,
-    'test': val
-}
-
-INFO_PATH: {
-    'train': [kitti_infos_train.pkl],
-    'test': [kitti_infos_val.pkl],
-}
-
-FOV_POINTS_ONLY: True
-
-
-DATA_AUGMENTOR:
-    - 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:15','Pedestrian:10', 'Cyclist:10']
-      NUM_POINT_FEATURES: 4
-      DATABASE_WITH_FAKELIDAR: True
-      REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
-      LIMIT_WHOLE_SCENE: False
-
-    - 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: [0.16, 0.16, 4]
-      MAX_POINTS_PER_VOXEL: 32
-      MAX_NUMBER_OF_VOXELS: {
-        'train': 16000,
-        'test': 40000
-      }

tools/cfgs/kitti_models/pointpillar.yaml

+CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
+
+DATA_CONFIG: 
+    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
+    POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]
+    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: [0.16, 0.16, 4]
+          MAX_POINTS_PER_VOXEL: 32
+          MAX_NUMBER_OF_VOXELS: {
+            'train': 16000,
+            'test': 40000
+          }
+
+MODEL:
+    NAME: PointPillar
+
+    VFE:
+        NAME: PillarVFE
+        WITH_DISTANCE: False
+        USE_ABSLOTE_XYZ: True
+        USE_NORM: True
+        NUM_FILTERS: [64]
+
+    MAP_TO_BEV:
+        NAME: PointPillarScatter
+        NUM_BEV_FEATURES: 64
+
+    BACKBONE_2D:
+        NAME: BaseBEVBackbone
+        LAYER_NUMS: [3, 5, 5]
+        LAYER_STRIDES: [2, 2, 2]
+        NUM_FILTERS: [64, 128, 256]
+        UPSAMPLE_STRIDES: [1, 2, 4]
+        NUM_UPSAMPLE_FILTERS: [128, 128, 128]
+
+    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: [
+            {
+                'anchor_sizes': [[3.9, 1.6, 1.56]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-1.78],
+                'align_center': False,
+                'feature_map_stride': 2
+            },
+            {
+                'anchor_sizes': [[0.8, 0.6, 1.73]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.6],
+                'align_center': False,
+                'feature_map_stride': 2
+            },
+            {
+                'anchor_sizes': [[1.76, 0.6, 1.73]],
+                'anchor_rotations': [0, 1.57],
+                'anchor_bottom_heights': [-0.6],
+                'align_center': False,
+                'feature_map_stride': 2
+            }
+        ]
+
+        TARGET_ASSIGNER_CONFIG:
+            NAME: AxisAlignedTargetAssigner
+            POS_FRACTION: -1.0
+            SAMPLE_SIZE: 512
+            MATCHED_THRESHOLDS: [0.6, 0.5, 0.5]
+            UNMATCHED_THRESHOLDS: [0.45, 0.35, 0.35]
+            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:
+    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