|
voxel_size = [0.05, 0.05, 0.1] |
|
|
|
model = dict( |
|
type='VoxelNet', |
|
data_preprocessor=dict( |
|
type='Det3DDataPreprocessor', |
|
voxel=True, |
|
voxel_layer=dict( |
|
max_num_points=5, |
|
point_cloud_range=[0, -40, -3, 70.4, 40, 1], |
|
voxel_size=voxel_size, |
|
max_voxels=(16000, 40000))), |
|
voxel_encoder=dict(type='HardSimpleVFE'), |
|
middle_encoder=dict( |
|
type='SparseEncoder', |
|
in_channels=4, |
|
sparse_shape=[41, 1600, 1408], |
|
order=('conv', 'norm', 'act')), |
|
backbone=dict( |
|
type='SECOND', |
|
in_channels=256, |
|
layer_nums=[5, 5], |
|
layer_strides=[1, 2], |
|
out_channels=[128, 256]), |
|
neck=dict( |
|
type='SECONDFPN', |
|
in_channels=[128, 256], |
|
upsample_strides=[1, 2], |
|
out_channels=[256, 256]), |
|
bbox_head=dict( |
|
type='Anchor3DHead', |
|
num_classes=3, |
|
in_channels=512, |
|
feat_channels=512, |
|
use_direction_classifier=True, |
|
anchor_generator=dict( |
|
type='Anchor3DRangeGenerator', |
|
ranges=[ |
|
[0, -40.0, -0.6, 70.4, 40.0, -0.6], |
|
[0, -40.0, -0.6, 70.4, 40.0, -0.6], |
|
[0, -40.0, -1.78, 70.4, 40.0, -1.78], |
|
], |
|
sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]], |
|
rotations=[0, 1.57], |
|
reshape_out=False), |
|
diff_rad_by_sin=True, |
|
bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'), |
|
loss_cls=dict( |
|
type='mmdet.FocalLoss', |
|
use_sigmoid=True, |
|
gamma=2.0, |
|
alpha=0.25, |
|
loss_weight=1.0), |
|
loss_bbox=dict( |
|
type='mmdet.SmoothL1Loss', beta=1.0 / 9.0, loss_weight=2.0), |
|
loss_dir=dict( |
|
type='mmdet.CrossEntropyLoss', use_sigmoid=False, |
|
loss_weight=0.2)), |
|
|
|
train_cfg=dict( |
|
assigner=[ |
|
dict( |
|
type='Max3DIoUAssigner', |
|
iou_calculator=dict(type='BboxOverlapsNearest3D'), |
|
pos_iou_thr=0.35, |
|
neg_iou_thr=0.2, |
|
min_pos_iou=0.2, |
|
ignore_iof_thr=-1), |
|
dict( |
|
type='Max3DIoUAssigner', |
|
iou_calculator=dict(type='BboxOverlapsNearest3D'), |
|
pos_iou_thr=0.35, |
|
neg_iou_thr=0.2, |
|
min_pos_iou=0.2, |
|
ignore_iof_thr=-1), |
|
dict( |
|
type='Max3DIoUAssigner', |
|
iou_calculator=dict(type='BboxOverlapsNearest3D'), |
|
pos_iou_thr=0.6, |
|
neg_iou_thr=0.45, |
|
min_pos_iou=0.45, |
|
ignore_iof_thr=-1), |
|
], |
|
allowed_border=0, |
|
pos_weight=-1, |
|
debug=False), |
|
test_cfg=dict( |
|
use_rotate_nms=True, |
|
nms_across_levels=False, |
|
nms_thr=0.01, |
|
score_thr=0.1, |
|
min_bbox_size=0, |
|
nms_pre=100, |
|
max_num=50)) |
|
|
