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hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py
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hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d.py
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_base_ = [
'../_base_/models/hv_pointpillars_fpn_nus.py',
'../_base_/datasets/nus-3d.py', '../_base_/schedules/schedule_2x.py',
'../_base_/default_runtime.py'
]
model = dict(
pts_bbox_head=dict(
_delete_=True,
type='FreeAnchor3DHead',
num_classes=10,
in_channels=256,
feat_channels=256,
use_direction_classifier=True,
pre_anchor_topk=25,
bbox_thr=0.5,
gamma=2.0,
alpha=0.5,
anchor_generator=dict(
type='AlignedAnchor3DRangeGenerator',
ranges=[[-50, -50, -1.8, 50, 50, -1.8]],
scales=[1, 2, 4],
sizes=[
[2.5981, 0.8660, 1.], # 1.5 / sqrt(3)
[1.7321, 0.5774, 1.], # 1 / sqrt(3)
[1., 1., 1.],
[0.4, 0.4, 1],
],
custom_values=[0, 0],
rotations=[0, 1.57],
reshape_out=True),
assigner_per_size=False,
diff_rad_by_sin=True,
dir_offset=-0.7854, # -pi / 4
bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
loss_cls=dict(
type='FocalLoss',
use_sigmoid=True,
gamma=2.0,
alpha=0.25,
loss_weight=1.0),
loss_bbox=dict(type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=0.8),
loss_dir=dict(
type='CrossEntropyLoss', use_sigmoid=False, loss_weight=0.2)),
# model training and testing settings
train_cfg=dict(
pts=dict(code_weight=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.25, 0.25])))