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cl_config.yaml
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cl_config.yaml
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---
main:
project: 'batch3dmot'
dataset: 'nuscenes'
version: 'v1.0-trainval'
class_dict: 'nuscenes_tracking_eval'
sensors_used:
lidar: True
img: True
radar: True
detections: 'centerpoint' # centerpoint or megvii
paths:
home_dir: '/home/user/'
top_level: '/home/user/Batch3DMOT/'
package: '/home/user/Batch3DMOT/batch_3dmot/'
data: '/data/nuscenes/'
tmp: '/data/batch3dmot/tmp/'
resnet:
batch_size: 32
lr: 0.002
scheduler_step_size: 20
scheduler_gamma: 0.5
num_epochs: 80
res_size: 32
shuffle_data: True
save_images_val_test: True
manual_seed: 5621
ego_rad_min: 1.0
ego_rad_max: 50.0
checkpoint: "resnet/specify_ckpt.pth"
pointnet:
batch_size: 64
workers: 10
num_epochs: 500
feature_transform: False
shuffle_data: True
manual_seed: 1200
num_points: 128
lr: 0.001
beta_lo: 0.9
beta_hi: 0.999
scheduler_step_size: 20
scheduler_gamma: 0.5
min_lidar_pts: 6
ego_rad_min: 1.0
ego_rad_max: 50.0
checkpoint: "pointnet/specify_ckpt.pth"
radarnet:
manual_seed: 5621
workers: 8
num_epochs: 1000
feature_transform: False
shuffle_data: True
batch_size: 256
lr: 0.0002
device: gpu
min_radar_pts: 2
ego_rad_min: 1.0
ego_rad_max: 50.0
num_points: 64
checkpoint: "radarnet/specify_ckpt.pth"
preprocessing:
res_size: 32
nsweeps_lidar: 10
nsweeps_radar: 6
graph_construction:
chunk_size: 3
batch_size_graph: 5
top_knn_nodes: 40
feat_3d_pose_dim: 19
feat_2d_app_dim: 32
feat_3d_app_dim: 128
feat_3d_radar_dim: 64
node_feat_dim: 19
split: 'train'
top_knn_classes:
car: 40
truck: 40
bus: 40
trailer: 40
pedestrian: 40
motorcycle: 40
bicycle: 40
detections:
megvii:
mini: 'megvii/results_mini.json'
train: 'megvii/results_train.json'
val: 'megvii/results_val.json'
test: 'megvii/results_test.json'
centerpoint:
train: 'centerpoint/voxelnet_1440_dcn_flip/infos_train_10sweeps_withvelo_filter_True.json' # w flip augm
val: 'centerpoint/voxelnet_1440_dcn_flip/infos_val_10sweeps_withvelo_filter_True.json' # w flip augm
test: 'centerpoint/voxelnet_1440_dcn_flip/infos_test_10sweeps_withvelo_painted.json' # w flip augm
mini: 'centerpoint/voxelnet_1440_dcn_flip_old/infos_mini_10sweeps_withvelo_filter_True.json'
gnn:
manual_seed: 5621
checkpoint: ''
batch_size_graph: 5
batch_size: 2
lr: 1e-4
weight_decay: 1e-4
beta_lo: 0.9
beta_hi: 0.999
num_epochs: 100
gnn_depth: 6
edge_dim: 16
node_dim: 19 # 3d-cl 371, 3d-clr 627, #3d-c 115, #3d 19
pose_dim: 19
img_dim: 32
lidar_dim: 32
mp_type: 'standard' # or standard
loss: 'cb' # or bce
attention: True
predict:
checkpoint: "gnn/selected_gnn_checkpoint.pth"
batch_size_graph: 2
classes:
nuscenes_tracking_eval:
car: 1
truck: 2
bus: 3
trailer: 4
pedestrian: 5
motorcycle: 6
bicycle: 7
eval:
verbose: 1
eval_config: 'tracking_nips_2019'
eval_set: 'val'
render_curves: 1
render:
all_scenes: True
scene_token: e233467e827140efa4b42d2b4c435855