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