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Commit c4033be4 authored by Shaoshuai Shi's avatar Shaoshuai Shi
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nuscene config updated, README updated

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README.md
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...@@ -11,12 +11,17 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18 ...@@ -11,12 +11,17 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18
- [Changelog](#changelog) - [Changelog](#changelog)
- [Design Pattern](#openpcdet-design-pattern) - [Design Pattern](#openpcdet-design-pattern)
- [Model Zoo](#model-zoo) - [Model Zoo](#model-zoo)
- [Quick Demo](#quick-demo) - [Installation](docs/INSTALL.md)
- [Getting Started](#Getting-Started) - [Quick Demo](docs/DEMO.md)
- [Getting Started](docs/GETTING_STARTED.md)
- [Citation](#citation) - [Citation](#citation)
## Changelog ## Changelog
[2020-07-29] `OpenPCDet` v0.3.0 is released with the following features:
* The Point-based and Anchor-Free models (`PointRCNN`, `PartA2-Free`) are supported now.
* The NuScenes dataset is supported with strong baseline results (`CBGS`).
[2020-07-17] Add simple visualization codes and a quick demo to test with custom data. [2020-07-17] Add simple visualization codes and a quick demo to test with custom data.
[2020-06-24] `OpenPCDet` v0.2.0 is released with pretty new structures to support more models and datasets. [2020-06-24] `OpenPCDet` v0.2.0 is released with pretty new structures to support more models and datasets.
...@@ -75,7 +80,7 @@ Contributions are also welcomed. ...@@ -75,7 +80,7 @@ Contributions are also welcomed.
## Model Zoo ## Model Zoo
### KITTI 3D Object Detection Baselines ### KITTI 3D Object Detection Baselines
Selected supported methods are shown in the below table. The results are the 3D detection performance of car class on the *val* set of KITTI dataset. Selected supported methods are shown in the below table. The results are the 3D detection performance of moderate difficulty on the *val* set of KITTI dataset.
All models are trained with 8 GTX 1080Ti GPUs and are available for download. All models are trained with 8 GTX 1080Ti GPUs and are available for download.
| | training time | Car | Pedestrian | Cyclist | download | | | training time | Car | Pedestrian | Cyclist | download |
...@@ -90,10 +95,12 @@ All models are trained with 8 GTX 1080Ti GPUs and are available for download. ...@@ -90,10 +95,12 @@ All models are trained with 8 GTX 1080Ti GPUs and are available for download.
| [PV-RCNN](tools/cfgs/kitti_models/pv_rcnn.yaml) | ~6 hours| 83.69 | - | - | [model-50M](https://drive.google.com/file/d/1lIOq4Hxr0W3qsX83ilQv0nk1Cls6KAr-/view?usp=sharing) | | [PV-RCNN](tools/cfgs/kitti_models/pv_rcnn.yaml) | ~6 hours| 83.69 | - | - | [model-50M](https://drive.google.com/file/d/1lIOq4Hxr0W3qsX83ilQv0nk1Cls6KAr-/view?usp=sharing) |
### NuScenes 3D Object Detection Baselines ### NuScenes 3D Object Detection Baselines
All models are trained with 8 GTX 1080Ti GPUs and are available for download.
| | mATE | mASE | mAOE | mAVE | mAAE | mAP | NDS | download | | | mATE | mASE | mAOE | mAVE | mAAE | mAP | NDS | download |
|---------------------------------------------|----------:|:-------:|:-------:|:-------:|:---------:|:-------:|:-------:|:---------:| |---------------------------------------------|----------:|:-------:|:-------:|:-------:|:---------:|:-------:|:-------:|:---------:|
| [PointPillar-MultiHead](tools/cfgs/nuscenes_models/pp_multihead.yaml) | 33.87 | 26.00 | 32.07 | 28.74 | 20.15 | 44.63 | 58.23 | [model-]() | | [PointPillar-MultiHead](tools/cfgs/nuscenes_models/cbgs_pp_multihead.yaml) | 33.87 | 26.00 | 32.07 | 28.74 | 20.15 | 44.63 | 58.23 | [model-]() |
| [SECOND-MultiHead (CBGS)](tools/cfgs/nuscenes_models/cbgs.yaml) | 31.15 | 25.51 | 26.64 | 26.26 | 20.46 | 50.59 | 62.29 | [model-]() | | [SECOND-MultiHead (CBGS)](tools/cfgs/nuscenes_models/cbgs_second_multihead.yaml) | 31.15 | 25.51 | 26.64 | 26.26 | 20.46 | 50.59 | 62.29 | [model-]() |
### Other datasets ### Other datasets
......
docs/DEMO.md
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## Quick Demo # Quick Demo
Here we provide a quick demo to test a pretrained model on the custom point cloud data and visualize the predicted results. Here we provide a quick demo to test a pretrained model on the custom point cloud data and visualize the predicted results.
......
docs/INSTALL.md
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## Installation # Installation
### Requirements ### Requirements
All the codes are tested in the following environment: All the codes are tested in the following environment:
......
tools/cfgs/nuscenes_models/cbgs.yaml deleted 100644 → 0
View file @ 71a45080
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_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
USE_DIRECTION_CLASSIFIER: True
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': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
SHARED_CONV_NUM_FILTER: 64
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
'LAYER_NUMS': [1],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
'LAYER_NUMS': [1],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
'LAYER_NUMS': [1],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['barrier'],
'LAYER_NUMS': [1],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
'LAYER_NUMS': [1],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
'LAYER_NUMS': [1],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
]
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': 9
}
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, 0.2, 0.2]
}
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: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 100
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
tools/cfgs/nuscenes_models/cbgs_1conv.yaml deleted 100644 → 0
View file @ 71a45080
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_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
USE_DIRECTION_CLASSIFIER: True
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': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
SHARED_CONV_NUM_FILTER: 64
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['barrier'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
]
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': 9
}
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, 0.2, 0.2]
}
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: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 100
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
tools/cfgs/nuscenes_models/cbgs_1conv_sepreg_dir.yaml deleted 100644 → 0
View file @ 71a45080
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_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
USE_DIRECTION_CLASSIFIER: True
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': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
SHARED_CONV_NUM_FILTER: 64
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
},
{
'HEAD_CLS_NAME': ['barrier'],
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
},
]
SEPARATE_REG_CONFIG:
NUM_MIDDLE_CONV: 1
NUM_MIDDLE_FILTER: 64
REG_LIST: ['reg:2', 'height:1', 'size:3', 'angle:1', 'velo: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': 9,
'encode_angle_by_sincos': False
}
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, 0.2, 0.2]
}
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: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 100
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
tools/cfgs/nuscenes_models/pp_multihead_sepreg.yaml → tools/cfgs/nuscenes_models/cbgs_pp_multihead.yaml
View file @ c4033be4
...@@ -225,6 +225,9 @@ MODEL: ...@@ -225,6 +225,9 @@ MODEL:
OPTIMIZATION: OPTIMIZATION:
BATCH_SIZE_PER_GPU: 4
NUM_EPOCHS: 20
OPTIMIZER: adam_onecycle OPTIMIZER: adam_onecycle
LR: 0.001 LR: 0.001
WEIGHT_DECAY: 0.01 WEIGHT_DECAY: 0.01
......
tools/cfgs/nuscenes_models/cbgs_1conv_sepreg.yaml → tools/cfgs/nuscenes_models/cbgs_second_multihead.yaml
View file @ c4033be4
...@@ -207,6 +207,9 @@ MODEL: ...@@ -207,6 +207,9 @@ MODEL:
OPTIMIZATION: OPTIMIZATION:
BATCH_SIZE_PER_GPU: 4
NUM_EPOCHS: 20
OPTIMIZER: adam_onecycle OPTIMIZER: adam_onecycle
LR: 0.003 LR: 0.003
WEIGHT_DECAY: 0.01 WEIGHT_DECAY: 0.01
......
tools/cfgs/nuscenes_models/pp_multihead.yaml deleted 100644 → 0
View file @ 71a45080
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml
POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
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: [0.2, 0.2, 8.0]
MAX_POINTS_PER_VOXEL: 20
MAX_NUMBER_OF_VOXELS: {
'train': 30000,
'test': 30000
}
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: [0.5, 1, 2]
NUM_UPSAMPLE_FILTERS: [128, 128, 128]
DENSE_HEAD:
NAME: AnchorHeadMulti
CLASS_AGNOSTIC: False
USE_DIRECTION_CLASSIFIER: True
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': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 4,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
SHARED_CONV_NUM_FILTER: 64
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['barrier'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [64],
},
]
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': 9
}
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, 0.2, 0.2]
}
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: 0.2
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 100
OPTIMIZATION:
OPTIMIZER: adam_onecycle
LR: 0.001
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
tools/cfgs/nuscenes_models/second.yaml deleted 100644 → 0
View file @ 71a45080
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_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': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
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': 9
}
LOSS_CONFIG:
LOSS_WEIGHTS: {
'pos_cls_weight': 1.0,
'neg_cls_weight': 2.0,
'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, 0.2, 0.2]
}
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: 0.2
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
tools/cfgs/nuscenes_models/second_multihead.yaml deleted 100644 → 0
View file @ 71a45080
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_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: AnchorHeadMulti
CLASS_AGNOSTIC: False
USE_DIRECTION_CLASSIFIER: True
DIR_OFFSET: 0.78539
DIR_LIMIT_OFFSET: 0.0
NUM_DIR_BINS: 2
USE_MULTIHEAD: True
ANCHOR_GENERATOR_CONFIG: [
{
'class_name': car,
'anchor_sizes': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['barrier'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
]
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': 9
}
LOSS_CONFIG:
LOSS_WEIGHTS: {
'pos_cls_weight': 1.0,
'neg_cls_weight': 2.0,
'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, 0.2, 0.2]
}
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: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 100
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
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