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_base_ = [
'../_base_/models/pointpillars_hv_secfpn_waymo.py',
'../_base_/datasets/waymoD5-3d-car.py',
'../_base_/schedules/schedule-2x.py',
'../_base_/default_runtime.py',
]
# model settings
model = dict(
type='MVXFasterRCNN',
pts_bbox_head=dict(
type='Anchor3DHead',
num_classes=1,
anchor_generator=dict(
type='AlignedAnchor3DRangeGenerator',
ranges=[[-74.88, -74.88, -0.0345, 74.88, 74.88, -0.0345]],
sizes=[[4.73, 2.08, 1.77]],
rotations=[0, 1.57],
reshape_out=True)),
# model training and testing settings
train_cfg=dict(
_delete_=True,
pts=dict(
assigner=dict(
type='Max3DIoUAssigner',
iou_calculator=dict(type='BboxOverlapsNearest3D'),
pos_iou_thr=0.55,
neg_iou_thr=0.4,
min_pos_iou=0.4,
ignore_iof_thr=-1),
allowed_border=0,
code_weight=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
pos_weight=-1,
debug=False)))
# Default setting for scaling LR automatically
# - `enable` means enable scaling LR automatically
# or not by default.
# - `base_batch_size` = (16 GPUs) x (2 samples per GPU).
auto_scale_lr = dict(enable=False, base_batch_size=32)
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