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_base_ = './pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py' |
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dataset_type = 'KittiDataset' |
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data_root = 'data/kitti/' |
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class_names = ['Car'] |
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metainfo = dict(classes=class_names) |
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backend_args = None |
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point_cloud_range = [0, -39.68, -3, 69.12, 39.68, 1] |
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model = dict( |
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bbox_head=dict( |
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type='Anchor3DHead', |
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num_classes=1, |
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anchor_generator=dict( |
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_delete_=True, |
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type='AlignedAnchor3DRangeGenerator', |
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ranges=[[0, -39.68, -1.78, 69.12, 39.68, -1.78]], |
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sizes=[[3.9, 1.6, 1.56]], |
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rotations=[0, 1.57], |
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reshape_out=True)), |
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train_cfg=dict( |
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_delete_=True, |
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assigner=dict( |
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type='Max3DIoUAssigner', |
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iou_calculator=dict(type='BboxOverlapsNearest3D'), |
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pos_iou_thr=0.6, |
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neg_iou_thr=0.45, |
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min_pos_iou=0.45, |
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ignore_iof_thr=-1), |
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allowed_border=0, |
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pos_weight=-1, |
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debug=False)) |
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db_sampler = dict( |
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data_root=data_root, |
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info_path=data_root + 'kitti_dbinfos_train.pkl', |
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rate=1.0, |
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prepare=dict(filter_by_difficulty=[-1], filter_by_min_points=dict(Car=5)), |
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classes=class_names, |
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sample_groups=dict(Car=15), |
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points_loader=dict( |
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type='LoadPointsFromFile', |
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coord_type='LIDAR', |
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load_dim=4, |
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use_dim=4, |
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backend_args=backend_args), |
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backend_args=backend_args) |
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train_pipeline = [ |
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dict( |
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type='LoadPointsFromFile', |
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coord_type='LIDAR', |
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load_dim=4, |
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use_dim=4, |
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backend_args=backend_args), |
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dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True), |
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dict(type='ObjectSample', db_sampler=db_sampler, use_ground_plane=True), |
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dict(type='RandomFlip3D', flip_ratio_bev_horizontal=0.5), |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[-0.78539816, 0.78539816], |
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scale_ratio_range=[0.95, 1.05]), |
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dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range), |
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dict(type='ObjectRangeFilter', point_cloud_range=point_cloud_range), |
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dict(type='PointShuffle'), |
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dict( |
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type='Pack3DDetInputs', |
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keys=['points', 'gt_labels_3d', 'gt_bboxes_3d']) |
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] |
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test_pipeline = [ |
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dict( |
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type='LoadPointsFromFile', |
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coord_type='LIDAR', |
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load_dim=4, |
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use_dim=4, |
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backend_args=backend_args), |
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dict( |
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type='MultiScaleFlipAug3D', |
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img_scale=(1333, 800), |
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pts_scale_ratio=1, |
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flip=False, |
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transforms=[ |
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dict( |
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type='GlobalRotScaleTrans', |
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rot_range=[0, 0], |
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scale_ratio_range=[1., 1.], |
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translation_std=[0, 0, 0]), |
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dict(type='RandomFlip3D'), |
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dict( |
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type='PointsRangeFilter', point_cloud_range=point_cloud_range) |
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]), |
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dict(type='Pack3DDetInputs', keys=['points']) |
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] |
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train_dataloader = dict( |
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dataset=dict(dataset=dict(pipeline=train_pipeline, metainfo=metainfo))) |
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test_dataloader = dict(dataset=dict(pipeline=test_pipeline, metainfo=metainfo)) |
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val_dataloader = dict(dataset=dict(pipeline=test_pipeline, metainfo=metainfo)) |
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