| SAM_TYPE: "vit_h" | |
| SAM_CHECKPOINT: "sam_vit_h_4b8939.pth" | |
| POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] | |
| USED_FEATURE_LIST: ['x', 'y', 'z', 'intensity', 'timestamp'] | |
| DATA_PROCESSOR: | |
| - NAME: mask_points_and_boxes_outside_range | |
| REMOVE_OUTSIDE_BOXES: True | |
| - NAME: shuffle_points | |
| SHUFFLE_ENABLED: { | |
| 'train': True, | |
| 'test': True | |
| } | |
| - NAME: transform_points_to_voxels | |
| VOXEL_SIZE: [0.075, 0.075, 0.2] | |
| MAX_POINTS_PER_VOXEL: 10 | |
| MAX_NUMBER_OF_VOXELS: { | |
| 'train': 120000, | |
| 'test': 160000 | |
| } | |
| VOXELNEXT_CHECKPOINT: "voxelnext_nuscenes_kernel1.pth" | |
| INPUT_CHANNELS: 5 | |
| GRID_SIZE: [1440, 1440, 40] | |
| CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer', | |
| 'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'] | |
| KERNEL_SIZE_HEAD: 1 | |
| VOXEL_SIZE: [0.075, 0.075, 0.2] | |
| CLASS_NAMES_EACH_HEAD: [ | |
| ['car'], | |
| ['truck', 'construction_vehicle'], | |
| ['bus', 'trailer'], | |
| ['barrier'], | |
| ['motorcycle', 'bicycle'], | |
| ['pedestrian', 'traffic_cone'], | |
| ] | |
| SEPARATE_HEAD_CFG: | |
| HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel'] | |
| HEAD_DICT: { | |
| 'center': {'out_channels': 2, 'num_conv': 2}, | |
| 'center_z': {'out_channels': 1, 'num_conv': 2}, | |
| 'dim': {'out_channels': 3, 'num_conv': 2}, | |
| 'rot': {'out_channels': 2, 'num_conv': 2}, | |
| 'vel': {'out_channels': 2, 'num_conv': 2}, | |
| } | |
| POST_PROCESSING: | |
| SCORE_THRESH: 0 | |
| POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] | |
| MAX_OBJ_PER_SAMPLE: 500 | |