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| SOLVER: | |
| TYPE: "sgd" | |
| IMS_PER_BATCH: 32 | |
| BASE_LR: 0.02 | |
| STEPS: (19200, 25600) | |
| MAX_ITER: 32000 | |
| WEIGHT_DECAY: 0.0001 | |
| LR_SCHEDULER_NAME: "WarmupMultiStepLR" | |
| INPUT: | |
| MIN_SIZE_TRAIN: (256, 272, 288, 304, 320, 336, 352, 368, 384, 400, 416, 432, 448, 464, 480, 496, 512, 528, 544, 560, 576, 592, 608, 624, 640,) | |
| MIN_SIZE_TEST: 512 | |
| MAX_SIZE_TRAIN: 4096 | |
| MAX_SIZE_TEST: 4096 | |
| TEST: | |
| VISIBILITY_THRES: 0.33333333 | |
| TRUNCATION_THRES: 0.33333333 | |
| EVAL_PERIOD: 16000 | |
| DATASETS: | |
| TRAIN: ('KITTI_train', 'KITTI_val') | |
| TEST: ('KITTI_test',) | |
| CATEGORY_NAMES: ('pedestrian', 'car', 'cyclist', 'van', 'truck', 'tram', 'person') | |
| IGNORE_NAMES: "['dontcare', 'ignore', 'void']" | |
| MIN_HEIGHT_THRES: 0.05 | |
| TRUNCATION_THRES: 0.75 | |
| VISIBILITY_THRES: 0.25 | |
| TRUNC_2D_BOXES: True | |
| VIS_PERIOD: 640 | |
| DATALOADER: | |
| SAMPLER_TRAIN: "RepeatFactorTrainingSampler" | |
| REPEAT_THRESHOLD: 0.1 | |
| MODEL: | |
| PIXEL_MEAN: [103.530, 116.280, 123.675] | |
| PIXEL_STD: [57.375, 57.120, 58.395] | |
| META_ARCHITECTURE: "RCNN3D" | |
| MASK_ON: False | |
| STABILIZE: 0.02 | |
| USE_BN: True | |
| BACKBONE: | |
| FREEZE_AT: 0 | |
| NAME: 'build_dla_from_vision_fpn_backbone' | |
| DLA: | |
| TYPE: 'dla34' | |
| FPN: | |
| IN_FEATURES: ['p2', 'p3', 'p4', 'p5', 'p6'] | |
| ANCHOR_GENERATOR: | |
| SIZES: [[32], [64], [128], [256], [512]] # One size for each in feature map | |
| ASPECT_RATIOS: [[0.5, 1.0, 2.0]] # Three aspect ratios (same for all in feature maps) | |
| RPN: | |
| HEAD_NAME: "StandardRPNHead" | |
| IN_FEATURES: ['p2', 'p3', 'p4', 'p5', 'p6'] | |
| PRE_NMS_TOPK_TRAIN: 2000 # Per FPN level | |
| PRE_NMS_TOPK_TEST: 1000 # Per FPN level | |
| POST_NMS_TOPK_TRAIN: 1000 | |
| POST_NMS_TOPK_TEST: 1000 | |
| BOUNDARY_THRESH: -1 | |
| OBJECTNESS_UNCERTAINTY: "IoUness" | |
| IOU_THRESHOLDS: [0.05, 0.05] | |
| POSITIVE_FRACTION: 1.0 | |
| PROPOSAL_GENERATOR: | |
| NAME: "RPNWithIgnore" | |
| ROI_HEADS: | |
| NAME: "ROIHeads3D" | |
| IN_FEATURES: ["p2", "p3", "p4", "p5", 'p6'] | |
| BATCH_SIZE_PER_IMAGE: 512 | |
| SCORE_THRESH_TEST: 0.01 | |
| NUM_CLASSES: 43 | |
| ROI_BOX_HEAD: | |
| NAME: "FastRCNNConvFCHead" | |
| NUM_FC: 2 | |
| POOLER_RESOLUTION: 7 | |
| ROI_CUBE_HEAD: | |
| NAME: 'CubeHead' | |
| Z_TYPE: 'direct' | |
| POSE_TYPE: '6d' | |
| NUM_FC: 2 | |
| SHARED_FC: True | |
| USE_CONFIDENCE: 1.0 | |
| LOSS_W_3D: 1.0 | |
| POOLER_TYPE: 'ROIAlignV2' | |
| POOLER_RESOLUTION: 7 | |
| DISENTANGLED_LOSS: True | |
| ALLOCENTRIC_POSE: True | |
| VIRTUAL_FOCAL: 512.0 | |
| VIRTUAL_DEPTH: True | |
| CHAMFER_POSE: True | |
| TEST: 'blasss' | |
| DIMS_PRIORS_ENABLED: True | |
| DIMS_PRIORS_PRECOMPUTED: False | |
| VERSION: 2 |