CUDNN_BENCHMARK: false
DATALOADER:
  ASPECT_RATIO_GROUPING: true
  BALANCE_DATASETS: false
  FILTER_EMPTY_ANNOTATIONS: true
  NUM_WORKERS: 4
  REPEAT_THRESHOLD: 0.1
  SAMPLER_TRAIN: RepeatFactorTrainingSampler
DATASETS:
  CATEGORY_NAMES:
  - chair
  - table
  - cabinet
  - car
  - lamp
  - books
  - sofa
  - pedestrian
  - picture
  - window
  - pillow
  - truck
  - door
  - blinds
  - sink
  - shelves
  - television
  - shoes
  - cup
  - bottle
  - bookcase
  - laptop
  - desk
  - cereal box
  - floor mat
  - traffic cone
  - mirror
  - barrier
  - counter
  - camera
  - bicycle
  - toilet
  - bus
  - bed
  - refrigerator
  - trailer
  - box
  - oven
  - clothes
  - van
  - towel
  - motorcycle
  - night stand
  - stove
  - machine
  - stationery
  - bathtub
  - cyclist
  - curtain
  - bin
  IGNORE_NAMES:
  - dontcare
  - ignore
  - void
  MAX_DEPTH: 100000000.0
  MIN_HEIGHT_THRES: 0.05
  MODAL_2D_BOXES: false
  PRECOMPUTED_PROPOSAL_TOPK_TEST: 1000
  PRECOMPUTED_PROPOSAL_TOPK_TRAIN: 2000
  PROPOSAL_FILES_TEST: []
  PROPOSAL_FILES_TRAIN: []
  TEST:
  - SUNRGBD_test_mini
  TRAIN:
  - SUNRGBD_train_mini
  - SUNRGBD_val_mini
  TRUNCATION_THRES: 0.75
  TRUNC_2D_BOXES: true
  VISIBILITY_THRES: 0.25
GLOBAL:
  HACK: 1.0
INPUT:
  CROP:
    ENABLED: false
    SIZE:
    - 0.9
    - 0.9
    TYPE: relative_range
  FORMAT: BGR
  MASK_FORMAT: polygon
  MAX_SIZE_TEST: 4096
  MAX_SIZE_TRAIN: 4096
  MIN_SIZE_TEST: 512
  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_TRAIN_SAMPLING: choice
  RANDOM_FLIP: horizontal
MODEL:
  ANCHOR_GENERATOR:
    ANGLES:
    - - -90
      - 0
      - 90
    ASPECT_RATIOS:
    - - 0.5
      - 1.0
      - 2.0
    NAME: DefaultAnchorGenerator
    OFFSET: 0.0
    SIZES:
    - - 32
    - - 64
    - - 128
    - - 256
    - - 512
  BACKBONE:
    FREEZE_AT: 0
    NAME: build_dla_from_vision_fpn_backbone
  DEVICE: cpu
  DLA:
    TRICKS: false
    TYPE: dla34
  FPN:
    FUSE_TYPE: sum
    IN_FEATURES:
    - p2
    - p3
    - p4
    - p5
    - p6
    NORM: ''
    OUT_CHANNELS: 256
  KEYPOINT_ON: false
  LOAD_PROPOSALS: false
  MASK_ON: false
  META_ARCHITECTURE: RCNN3D
  PANOPTIC_FPN:
    COMBINE:
      ENABLED: true
      INSTANCES_CONFIDENCE_THRESH: 0.5
      OVERLAP_THRESH: 0.5
      STUFF_AREA_LIMIT: 4096
    INSTANCE_LOSS_WEIGHT: 1.0
  PIXEL_MEAN:
  - 103.53
  - 116.28
  - 123.675
  PIXEL_STD:
  - 57.375
  - 57.12
  - 58.395
  PROPOSAL_GENERATOR:
    MIN_SIZE: 0
    NAME: RPNWithIgnore
  RESNETS:
    DEFORM_MODULATED: false
    DEFORM_NUM_GROUPS: 1
    DEFORM_ON_PER_STAGE:
    - false
    - false
    - false
    - false
    DEPTH: 50
    NORM: FrozenBN
    NUM_GROUPS: 1
    OUT_FEATURES:
    - res4
    RES2_OUT_CHANNELS: 256
    RES5_DILATION: 1
    STEM_OUT_CHANNELS: 64
    STRIDE_IN_1X1: true
    TORCHVISION: true
    WIDTH_PER_GROUP: 64
  RETINANET:
    BBOX_REG_LOSS_TYPE: smooth_l1
    BBOX_REG_WEIGHTS: &id002
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    FOCAL_LOSS_ALPHA: 0.25
    FOCAL_LOSS_GAMMA: 2.0
    IN_FEATURES:
    - p3
    - p4
    - p5
    - p6
    - p7
    IOU_LABELS:
    - 0
    - -1
    - 1
    IOU_THRESHOLDS:
    - 0.4
    - 0.5
    NMS_THRESH_TEST: 0.5
    NORM: ''
    NUM_CLASSES: 80
    NUM_CONVS: 4
    PRIOR_PROB: 0.01
    SCORE_THRESH_TEST: 0.05
    SMOOTH_L1_LOSS_BETA: 0.1
    TOPK_CANDIDATES_TEST: 1000
  ROI_BOX_CASCADE_HEAD:
    BBOX_REG_WEIGHTS:
    - &id001
      - 10.0
      - 10.0
      - 5.0
      - 5.0
    - - 20.0
      - 20.0
      - 10.0
      - 10.0
    - - 30.0
      - 30.0
      - 15.0
      - 15.0
    IOUS:
    - 0.5
    - 0.6
    - 0.7
  ROI_BOX_HEAD:
    BBOX_REG_LOSS_TYPE: smooth_l1
    BBOX_REG_LOSS_WEIGHT: 1.0
    BBOX_REG_WEIGHTS: *id001
    CLS_AGNOSTIC_BBOX_REG: false
    CONV_DIM: 256
    FC_DIM: 1024
    FED_LOSS_FREQ_WEIGHT_POWER: 0.5
    FED_LOSS_NUM_CLASSES: 50
    NAME: FastRCNNConvFCHead
    NORM: ''
    NUM_CONV: 0
    NUM_FC: 2
    POOLER_RESOLUTION: 7
    POOLER_SAMPLING_RATIO: 0
    POOLER_TYPE: ROIAlignV2
    SMOOTH_L1_BETA: 0.0
    TRAIN_ON_PRED_BOXES: false
    USE_FED_LOSS: false
    USE_SIGMOID_CE: false
  ROI_CUBE_HEAD:
    ALLOCENTRIC_POSE: true
    CHAMFER_POSE: true
    CLUSTER_BINS: 1
    CONV_DIM: 256
    DIMS_PRIORS_ENABLED: true
    DIMS_PRIORS_FUNC: exp
    DIMS_PRIORS_PRECOMPUTED: false
    DISENTANGLED_LOSS: true
    FC_DIM: 1024
    INVERSE_Z_WEIGHT: false
    LOSS_W_3D: 1.0
    LOSS_W_DIMS: 1.0
    LOSS_W_JOINT: 1.0
    LOSS_W_POSE: 1.0
    LOSS_W_XY: 1.0
    LOSS_W_Z: 1.0
    NAME: CubeHead
    NUM_CONV: 0
    NUM_FC: 2
    POOLER_RESOLUTION: 7
    POOLER_SAMPLING_RATIO: 0
    POOLER_TYPE: ROIAlignV2
    POSE_TYPE: 6d
    SCALE_ROI_BOXES: 0.0
    SHARED_FC: true
    TEST: blasss
    USE_CONFIDENCE: 1.0
    VIRTUAL_DEPTH: true
    VIRTUAL_FOCAL: 512.0
    Z_TYPE: direct
  ROI_HEADS:
    BATCH_SIZE_PER_IMAGE: 512
    IN_FEATURES:
    - p2
    - p3
    - p4
    - p5
    - p6
    IOU_LABELS:
    - 0
    - 1
    IOU_THRESHOLDS:
    - 0.5
    NAME: ROIHeads3D
    NMS_THRESH_TEST: 0.5
    NUM_CLASSES: 50
    POSITIVE_FRACTION: 0.25
    PROPOSAL_APPEND_GT: true
    SCORE_THRESH_TEST: 0.01
  ROI_KEYPOINT_HEAD:
    CONV_DIMS:
    - 512
    - 512
    - 512
    - 512
    - 512
    - 512
    - 512
    - 512
    LOSS_WEIGHT: 1.0
    MIN_KEYPOINTS_PER_IMAGE: 1
    NAME: KRCNNConvDeconvUpsampleHead
    NORMALIZE_LOSS_BY_VISIBLE_KEYPOINTS: true
    NUM_KEYPOINTS: 17
    POOLER_RESOLUTION: 14
    POOLER_SAMPLING_RATIO: 0
    POOLER_TYPE: ROIAlignV2
  ROI_MASK_HEAD:
    CLS_AGNOSTIC_MASK: false
    CONV_DIM: 256
    NAME: MaskRCNNConvUpsampleHead
    NORM: ''
    NUM_CONV: 0
    POOLER_RESOLUTION: 14
    POOLER_SAMPLING_RATIO: 0
    POOLER_TYPE: ROIAlignV2
  RPN:
    BATCH_SIZE_PER_IMAGE: 256
    BBOX_REG_LOSS_TYPE: smooth_l1
    BBOX_REG_LOSS_WEIGHT: 1.0
    BBOX_REG_WEIGHTS: *id002
    BOUNDARY_THRESH: -1
    CONV_DIMS:
    - -1
    HEAD_NAME: StandardRPNHead
    IGNORE_THRESHOLD: 0.5
    IN_FEATURES:
    - p2
    - p3
    - p4
    - p5
    - p6
    IOU_LABELS:
    - 0
    - -1
    - 1
    IOU_THRESHOLDS:
    - 0.05
    - 0.05
    LOSS_WEIGHT: 1.0
    NMS_THRESH: 0.7
    OBJECTNESS_UNCERTAINTY: IoUness
    POSITIVE_FRACTION: 1.0
    POST_NMS_TOPK_TEST: 1000
    POST_NMS_TOPK_TRAIN: 1000
    PRE_NMS_TOPK_TEST: 1000
    PRE_NMS_TOPK_TRAIN: 2000
    SMOOTH_L1_BETA: 0.0
  SEM_SEG_HEAD:
    COMMON_STRIDE: 4
    CONVS_DIM: 128
    IGNORE_VALUE: 255
    IN_FEATURES:
    - p2
    - p3
    - p4
    - p5
    LOSS_WEIGHT: 1.0
    NAME: SemSegFPNHead
    NORM: GN
    NUM_CLASSES: 54
  STABILIZE: 0.02
  USE_BN: true
  WEIGHTS: ''
  WEIGHTS_PRETRAIN: ''
OUTPUT_DIR: output/Baseline_sgd
PLOT:
  OUTPUT_DIR: ''
  RECALL_SCORES: false
SEED: 12
SOLVER:
  AMP:
    ENABLED: false
  BASE_LR: 0.0214
  BASE_LR_END: 0.0
  BIAS_LR_FACTOR: 1.0
  CHECKPOINT_PERIOD: 5000
  CLIP_GRADIENTS:
    CLIP_TYPE: value
    CLIP_VALUE: 1.0
    ENABLED: false
    NORM_TYPE: 2.0
  GAMMA: 0.1
  IMS_PER_BATCH: 2
  LR_SCHEDULER_NAME: WarmupMultiStepLR
  MAX_ITER: 100000
  MOMENTUM: 0.9
  NESTEROV: false
  NUM_DECAYS: 3
  REFERENCE_WORLD_SIZE: 0
  RESCALE_INTERVAL: false
  STEPS:
  - 17280
  - 23040
  TYPE: sgd
  WARMUP_FACTOR: 0.001
  WARMUP_ITERS: 0
  WARMUP_METHOD: linear
  WEIGHT_DECAY: 0.0001
  WEIGHT_DECAY_BIAS: null
  WEIGHT_DECAY_NORM: 0.0
TEST:
  AUG:
    ENABLED: false
    FLIP: true
    MAX_SIZE: 4000
    MIN_SIZES:
    - 400
    - 500
    - 600
    - 700
    - 800
    - 900
    - 1000
    - 1100
    - 1200
  DETECTIONS_PER_IMAGE: 100
  EVAL_PERIOD: 7200
  EXPECTED_RESULTS: []
  KEYPOINT_OKS_SIGMAS: []
  PRECISE_BN:
    ENABLED: false
    NUM_ITER: 200
  TRUNCATION_THRES: 0.33333333
  VISIBILITY_THRES: 0.33333333
VERSION: 2
VIS_PERIOD: 1