update configs

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/PartA2.yaml

@@ -46,14 +46,14 @@ MODEL:
             {
                 'anchor_sizes': [[0.8, 0.6, 1.73]],
                 'anchor_rotations': [0, 1.57],
-                'anchor_bottom_heights': [-1.78],
+                'anchor_bottom_heights': [-0.6],
                 'align_center': False,
                 'feature_map_stride': 8
             },
             {
                 'anchor_sizes': [[1.76, 0.6, 1.73]],
                 'anchor_rotations': [0, 1.57],
-                'anchor_bottom_heights': [-1.78],
+                'anchor_bottom_heights': [-0.6],
                 'align_center': False,
                 'feature_map_stride': 8
             }