79 lines
2.0 KiB
YAML
79 lines
2.0 KiB
YAML
model:
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heads:
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object:
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type: TransFusionHead
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num_proposals: 200
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auxiliary: true
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in_channels: null
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hidden_channel: 128
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num_classes: 10
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num_decoder_layers: 1
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num_heads: 8
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nms_kernel_size: 3
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ffn_channel: 256
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dropout: 0.1
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bn_momentum: 0.1
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activation: relu
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train_cfg:
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dataset: nuScenes
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point_cloud_range: ${point_cloud_range}
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grid_size: [1024, 1024, 1]
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voxel_size: ${voxel_size}
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out_size_factor: 8
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gaussian_overlap: 0.1
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min_radius: 2
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pos_weight: -1
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code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2]
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assigner:
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type: HungarianAssigner3D
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iou_calculator:
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type: BboxOverlaps3D
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coordinate: lidar
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cls_cost:
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type: FocalLossCost
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gamma: 2.0
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alpha: 0.25
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weight: 0.15
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reg_cost:
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type: BBoxBEVL1Cost
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weight: 0.25
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iou_cost:
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type: IoU3DCost
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weight: 0.25
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test_cfg:
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dataset: nuScenes
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grid_size: [1024, 1024, 1]
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out_size_factor: 8
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voxel_size: ${voxel_size[:2]}
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pc_range: ${point_cloud_range[:2]}
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nms_type: null
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common_heads:
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center: [2, 2]
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height: [1, 2]
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dim: [3, 2]
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rot: [2, 2]
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vel: [2, 2]
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bbox_coder:
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type: TransFusionBBoxCoder
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pc_range: ${point_cloud_range[:2]}
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post_center_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
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score_threshold: 0.0
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out_size_factor: 8
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voxel_size: ${voxel_size[:2]}
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code_size: 10
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loss_cls:
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type: FocalLoss
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use_sigmoid: true
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gamma: 2.0
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alpha: 0.25
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reduction: mean
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loss_weight: 1.0
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loss_heatmap:
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type: GaussianFocalLoss
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reduction: mean
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loss_weight: 1.0
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loss_bbox:
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type: L1Loss
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reduction: mean
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loss_weight: 0.25
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