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: [
            {
                '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,
                'class_name': car
            },
            {
                '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,
                'class_name': truck
            },
            {
                '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,
                'class_name': construction_vehicle
            },
            {
                '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,
                'class_name': bus
            },
            {
                '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,
                'class_name': trailer
            },
            {
                '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,
                'class_name': barrier
            },
            {
                '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,
                'class_name': motorcycle
            },
            {
                '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,
                'class_name': bicycle
            },
            {
                '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,
                'class_name': pedestrian
            },
            {
                '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,
                'class_name': traffic_cone
            },
        ]

        TARGET_ASSIGNER_CONFIG:
            NAME: AxisAlignedTargetAssigner
            POS_FRACTION: -1.0
            SAMPLE_SIZE: 512
            MATCHED_THRESHOLDS: [0.6, 0.55, 0.5, 0.55, 0.5, 0.55, 0.5, 0.5, 0.6, 0.6]
            UNMATCHED_THRESHOLDS: [0.45, 0.4, 0.35, 0.4, 0.35, 0.4, 0.3, 0.35, 0.4, 0.4]
            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