second_with_lion_retnet_64dim.yaml

CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']

DATA_CONFIG:
  _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
  POINT_CLOUD_RANGE: [0, -40, -3, 70.4, 40, 1]
  DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['placeholder']
    AUG_CONFIG_LIST:
      - NAME: gt_sampling
        USE_ROAD_PLANE: True
        DB_INFO_PATH:
          - kitti_dbinfos_train.pkl
        PREPARE: {
          filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
          filter_by_difficulty: [-1],
        }

        SAMPLE_GROUPS: ['Car:15','Pedestrian:10', 'Cyclist:10']
        NUM_POINT_FEATURES: 4
        DATABASE_WITH_FAKELIDAR: False
        REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
        LIMIT_WHOLE_SCENE: False

      - NAME: random_world_flip
        ALONG_AXIS_LIST: ['x']

      - NAME: random_world_rotation
        WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]

      - NAME: random_world_scaling
        WORLD_SCALE_RANGE: [0.95, 1.05]

  DATA_PROCESSOR:
    - NAME: mask_points_and_boxes_outside_range
      REMOVE_OUTSIDE_BOXES: True

    - NAME: shuffle_points
      SHUFFLE_ENABLED: {
        'train': True,
        'test': False
      }

    - NAME: transform_points_to_voxels
      VOXEL_SIZE: [ 0.2, 0.2, 0.125]
      MAX_POINTS_PER_VOXEL: 5
      MAX_NUMBER_OF_VOXELS: {
        'train': 16000,
        'test': 40000
      }


MODEL:
  NAME: SECONDNet

  VFE:
    NAME: DynamicVoxelVFE
    WITH_DISTANCE: False
    USE_ABSLOTE_XYZ: True
    USE_NORM: True
    NUM_FILTERS: [64, 64]

  BACKBONE_3D:
    NAME: LION3DBackboneOneStride
    FEATURE_DIM: 64
    LAYER_DIM: [64, 64, 64, 64]
    NUM_LAYERS: 4
    DEPTHS: [2, 2, 2, 2]
    LAYER_DOWN_SCALES: [[[2, 2, 2], [2, 2, 2]], [[2, 2, 2], [2, 2, 2]], [[2, 2, 2], [2, 2, 2]], [[2, 2, 2], [2, 2, 2]]]
    WINDOW_SHAPE: [[13, 13, 32], [13, 13, 16], [13, 13, 8], [13, 13, 4]] #[[27, 27, 32], [13, 13, 16], [13, 13, 8], [13, 13, 4]]
    GROUP_SIZE: [4096, 2048, 1024, 512]
    DIRECTION: ['x', 'y']
    DIFF_SCALE: 0.2
    DIFFUSION: True
    SHIFT: True
    OPERATOR:
      NAME: 'RetNet' # TODO add cpe
      CFG:
        mode: 'chunk' # only support chunk
        n_head: 2 #4 #2
        expand_k: 1
        expand_v: 2
        hidden_rate: 4
        used_MLP: True
        with_cp: True
        drop_path: 0.2

  MAP_TO_BEV:
    NAME: HeightCompression
    NUM_BEV_FEATURES: 128 #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': [[3.9, 1.6, 1.56]],
        'anchor_rotations': [0, 1.57],
        'anchor_bottom_heights': [-1.78],
        'align_center': False,
        'feature_map_stride': 1,
        'matched_threshold': 0.6,
        'unmatched_threshold': 0.45
      },
      {
        'class_name': 'Pedestrian',
        'anchor_sizes': [[0.8, 0.6, 1.73]],
        'anchor_rotations': [0, 1.57],
        'anchor_bottom_heights': [-0.6],
        'align_center': False,
        'feature_map_stride': 1,
        'matched_threshold': 0.5,
        'unmatched_threshold': 0.35
      },
      {
        'class_name': 'Cyclist',
        'anchor_sizes': [[1.76, 0.6, 1.73]],
        'anchor_rotations': [0, 1.57],
        'anchor_bottom_heights': [-0.6],
        'align_center': False,
        'feature_map_stride': 1,
        'matched_threshold': 0.5,
        'unmatched_threshold': 0.35
      }
    ]

    TARGET_ASSIGNER_CONFIG:
      NAME: AxisAlignedTargetAssigner
      POS_FRACTION: -1.0
      SAMPLE_SIZE: 512
      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:
  BATCH_SIZE_PER_GPU: 4
  NUM_EPOCHS: 80

  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