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CLASS_NAMES: ['bed', 'table', 'sofa', 'chair', 'toilet', 'desk', 'dresser', |
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'night_stand', 'bookshelf', 'bathtub'] |
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DATA_CONFIG: |
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_BASE_CONFIG_: cfgs/dataset_configs/sunrgbd_dataset.yaml |
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VOXEL_SIZE: &VOXEL_SIZE 0.02 |
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N_CLASSES: &N_CLASSES 10 |
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SEMANTIC_THR: &SEMANTIC_THR 0.15 |
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|
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MODEL: |
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NAME: CAGroup3D |
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VOXEL_SIZE: *VOXEL_SIZE |
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SEMANTIC_MIN_THR: 0.05 |
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SEMANTIC_ITER_VALUE: 0.02 |
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SEMANTIC_THR: *SEMANTIC_THR |
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BACKBONE_3D: |
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NAME: BiResNet |
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IN_CHANNELS: 3 |
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OUT_CHANNELS: 64 |
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DENSE_HEAD: |
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NAME: CAGroup3DHead |
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IN_CHANNELS: [64, 128, 256, 512] |
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OUT_CHANNELS: 64 |
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SEMANTIC_THR: *SEMANTIC_THR |
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VOXEL_SIZE: *VOXEL_SIZE |
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N_CLASSES: *N_CLASSES |
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N_REG_OUTS: 8 |
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CLS_KERNEL: 9 |
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WITH_YAW: True |
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USE_SEM_SCORE: False |
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EXPAND_RATIO: 3 |
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ASSIGNER: |
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NAME: CAGroup3DAssigner |
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LIMIT: 27 |
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TOPK: 18 |
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N_SCALES: 4 |
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LOSS_OFFSET: |
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NAME: SmoothL1Loss |
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BETA: 0.04 |
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REDUCTION: sum |
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LOSS_WEIGHT: 0.2 |
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LOSS_BBOX: |
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NAME: IoU3DLoss |
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WITH_YAW: True |
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LOSS_WEIGHT: 1.0 |
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NMS_CONFIG: |
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SCORE_THR: 0.01 |
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NMS_PRE: 1000 |
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IOU_THR: 0.5 |
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ROI_HEAD: |
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NAME: CAGroup3DRoIHead |
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NUM_CLASSES: *N_CLASSES |
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MIDDLE_FEATURE_SOURCE: [3] |
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GRID_SIZE: 7 |
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VOXEL_SIZE: *VOXEL_SIZE |
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COORD_KEY: 2 |
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MLPS: [[64,128,128]] |
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CODE_SIZE: 7 |
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ENCODE_SINCOS: True |
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ROI_PER_IMAGE: 128 |
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ROI_FG_RATIO: 0.9 |
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REG_FG_THRESH: 0.3 |
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ROI_CONV_KERNEL: 5 |
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ENLARGE_RATIO: False |
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USE_IOU_LOSS: True |
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USE_GRID_OFFSET: False |
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USE_SIMPLE_POOLING: True |
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USE_CENTER_POOLING: True |
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LOSS_WEIGHTS: |
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RCNN_CLS_WEIGHT: 1.0 |
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RCNN_REG_WEIGHT: 0.5 |
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RCNN_IOU_WEIGHT: 1.0 |
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CODE_WEIGHT: [1., 1., 1., 1., 1., 1., 1., 1.] |
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POST_PROCESSING: |
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RECALL_THRESH_LIST: [0.25, 0.5] |
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EVAL_METRIC: scannet |
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OPTIMIZATION: |
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BATCH_SIZE_PER_GPU: 16 |
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NUM_EPOCHS: 1 |
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OPTIMIZER: adamW |
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LR: 0.001 |
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WEIGHT_DECAY: 0.0001 |
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DECAY_STEP_LIST: [8, 11] |
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LR_DECAY: 0.1 |
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GRAD_NORM_CLIP: 10 |
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PCT_START: 0.4 |
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DIV_FACTOR: 10 |
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LR_CLIP: 0.0000001 |
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LR_WARMUP: False |
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WARMUP_EPOCH: 1 |
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|
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