| active_sensors: &id001 |
| - lidar |
| bevcam_fov: 110 |
| collaborators: &id002 |
| - vehicle |
| - rsu |
| - drone |
| data_augment: |
| - ALONG_AXIS_LIST: |
| - x |
| NAME: random_world_flip |
| - NAME: random_world_rotation |
| WORLD_ROT_ANGLE: |
| - -0.78539816 |
| - 0.78539816 |
| - NAME: random_world_scaling |
| WORLD_SCALE_RANGE: |
| - 0.95 |
| - 1.05 |
| device: cuda |
| dynamic_class: 7 |
| ego_type: vehicle |
| fusion: |
| args: |
| drone_data_aug_conf: &id003 |
| H: 720 |
| W: 1280 |
| bot_pct_lim: |
| - 0.0 |
| - 0.05 |
| final_dim: |
| - 360 |
| - 640 |
| rand_flip: false |
| resize_lim: |
| - 0.65 |
| - 0.7 |
| rot_lim: |
| - -3.6 |
| - 3.6 |
| drone_grid_conf: &id004 |
| ddiscr: |
| - 6 |
| - 150 |
| - 144 |
| mode: UD |
| xbound: |
| - -140.8 |
| - 140.8 |
| - 0.4 |
| ybound: |
| - -40 |
| - 40 |
| - 0.4 |
| zbound: |
| - -150 |
| - -6 |
| - 144 |
| proj_first: true |
| rsu_data_aug_conf: &id005 |
| H: 720 |
| W: 1280 |
| bot_pct_lim: |
| - 0.0 |
| - 0.05 |
| final_dim: |
| - 360 |
| - 640 |
| rand_flip: false |
| resize_lim: |
| - 0.65 |
| - 0.7 |
| rot_lim: |
| - 0 |
| - 0 |
| rsu_grid_conf: &id006 |
| ddiscr: |
| - 2 |
| - 50 |
| - 48 |
| mode: LID |
| xbound: |
| - -140.8 |
| - 140.8 |
| - 0.4 |
| ybound: |
| - -40 |
| - 40 |
| - 0.4 |
| zbound: |
| - -30 |
| - 30 |
| - 60.0 |
| veh_data_aug_conf: &id008 |
| H: 720 |
| W: 1280 |
| bot_pct_lim: |
| - 0.0 |
| - 0.05 |
| final_dim: |
| - 360 |
| - 640 |
| rand_flip: false |
| resize_lim: |
| - 0.65 |
| - 0.7 |
| rot_lim: |
| - 0 |
| - 0 |
| veh_grid_conf: &id009 |
| ddiscr: |
| - 2 |
| - 50 |
| - 48 |
| mode: LID |
| xbound: |
| - -140.8 |
| - 140.8 |
| - 0.4 |
| ybound: |
| - -40 |
| - 40 |
| - 0.4 |
| zbound: |
| - -10 |
| - 10 |
| - 20.0 |
| core_method: IntermediateFusionDatasetAirv2x |
| loss: |
| det: |
| args: |
| cls_weight: 1.0 |
| num_class: 7 |
| reg: 2.0 |
| core_method: point_pillar_loss_multiclass |
| seg: |
| args: |
| d_coe: 2.0 |
| d_weights: |
| - 200.0 |
| - 200.0 |
| - 75.0 |
| - 200.0 |
| - 200.0 |
| - 200.0 |
| l_weights: 8.0 |
| s_coe: 0.0 |
| s_weights: 50.0 |
| seg_branch: both |
| core_method: vanilla_seg_loss |
| lr_scheduler: |
| core_method: multistep |
| gamma: 0.1 |
| step_size: |
| - 10 |
| - 25 |
| - 40 |
| model: |
| args: |
| active_sensors: *id001 |
| anchor_number: 2 |
| backbone_fix: false |
| cav_range: &id014 |
| - -140.8 |
| - -40 |
| - -3 |
| - 140.8 |
| - 40 |
| - 1 |
| collaborators: *id002 |
| device: cuda |
| drone: |
| cam: |
| bevout_feature: 64 |
| camera_encoder: EfficientNet |
| data_aug_conf: *id003 |
| depth_supervision: false |
| grid_conf: *id004 |
| img_downsample: 8 |
| img_features: 64 |
| use_depth_gt: true |
| lidar: |
| backbone_fix: false |
| compression: 0 |
| lidar_range: |
| - -140.8 |
| - -40 |
| - -150 |
| - 140.8 |
| - 40 |
| - -6 |
| pillar_vfe: |
| num_filters: |
| - 64 |
| use_absolute_xyz: true |
| use_norm: true |
| with_distance: false |
| point_pillar_scatter: |
| grid_size: &id007 !!python/object/apply:numpy.core.multiarray._reconstruct |
| args: |
| - &id010 !!python/name:numpy.ndarray '' |
| - !!python/tuple |
| - 0 |
| - !!binary | |
| Yg== |
| state: !!python/tuple |
| - 1 |
| - !!python/tuple |
| - 3 |
| - &id011 !!python/object/apply:numpy.dtype |
| args: |
| - i8 |
| - false |
| - true |
| state: !!python/tuple |
| - 3 |
| - < |
| - null |
| - null |
| - null |
| - -1 |
| - -1 |
| - 0 |
| - false |
| - !!binary | |
| wAIAAAAAAADIAAAAAAAAAAEAAAAAAAAA |
| num_features: 64 |
| voxel_size: |
| - 0.4 |
| - 0.4 |
| - 144 |
| modalities: |
| - lidar |
| dynamic_class: 7 |
| ego_type: vehicle |
| head_dim: 256 |
| max_cav: &id016 |
| drone: 5 |
| rsu: 5 |
| vehicle: 5 |
| modality_fusion: |
| base_bev_backbone: |
| layer_nums: &id012 |
| - 3 |
| - 5 |
| - 8 |
| layer_strides: |
| - 2 |
| - 2 |
| - 2 |
| num_filters: &id013 |
| - 64 |
| - 128 |
| - 256 |
| num_upsample_filter: |
| - 128 |
| - 128 |
| - 128 |
| upsample_strides: |
| - 1 |
| - 2 |
| - 4 |
| compression: 0 |
| shrink_header: |
| dim: |
| - 256 |
| input_dim: 384 |
| kernal_size: |
| - 1 |
| padding: |
| - 0 |
| stride: |
| - 1 |
| use: true |
| num_class: 7 |
| obj_head: true |
| outC: 256 |
| proj_first: true |
| rsu: |
| cam: |
| bevout_feature: 64 |
| camera_encoder: EfficientNet |
| data_aug_conf: *id005 |
| depth_supervision: false |
| grid_conf: *id006 |
| img_downsample: 8 |
| img_features: 64 |
| use_depth_gt: true |
| lidar: |
| backbone_fix: false |
| compression: 0 |
| lidar_range: |
| - -140.8 |
| - -40 |
| - -30 |
| - 140.8 |
| - 40 |
| - 30 |
| pillar_vfe: |
| num_filters: |
| - 64 |
| use_absolute_xyz: true |
| use_norm: true |
| with_distance: false |
| point_pillar_scatter: |
| grid_size: *id007 |
| num_features: 64 |
| voxel_size: |
| - 0.4 |
| - 0.4 |
| - 60 |
| modalities: |
| - lidar |
| seg_branch: both |
| seg_hw: 512 |
| seg_res: 0.25 |
| static_class: 3 |
| supervise_single: false |
| task: det |
| train: true |
| vehicle: |
| cam: |
| bevout_feature: 64 |
| camera_encoder: EfficientNet |
| data_aug_conf: *id008 |
| depth_supervision: false |
| grid_conf: *id009 |
| img_downsample: 8 |
| img_features: 64 |
| use_depth_gt: true |
| lidar: |
| backbone_fix: false |
| compression: 0 |
| lidar_range: |
| - -140.8 |
| - -40 |
| - -3 |
| - 140.8 |
| - 40 |
| - 1 |
| pillar_vfe: |
| num_filters: |
| - 64 |
| use_absolute_xyz: true |
| use_norm: true |
| with_distance: false |
| point_pillar_scatter: |
| grid_size: !!python/object/apply:numpy.core.multiarray._reconstruct |
| args: |
| - *id010 |
| - !!python/tuple |
| - 0 |
| - !!binary | |
| Yg== |
| state: !!python/tuple |
| - 1 |
| - !!python/tuple |
| - 3 |
| - *id011 |
| - false |
| - !!binary | |
| wAIAAAAAAADIAAAAAAAAAAEAAAAAAAAA |
| num_features: 64 |
| voxel_size: |
| - 0.4 |
| - 0.4 |
| - 4 |
| modalities: |
| - lidar |
| where2com_fusion: |
| communication: |
| gaussian_smooth: |
| c_sigma: 1.0 |
| k_size: 5 |
| round: 1 |
| threshold: 0.01 |
| downsample_rate: 4 |
| fully: false |
| in_channels: 256 |
| layer_nums: *id012 |
| multi_scale: true |
| num_filters: *id013 |
| voxel_size: &id015 |
| - 0.4 |
| - 0.4 |
| - 4 |
| core_method: airv2x_where2com |
| name: airv2x_intermediate_where2comm |
| num_anchor: 2 |
| num_class: 7 |
| optimizer: |
| args: |
| eps: 1.0e-10 |
| weight_decay: 0.0001 |
| core_method: Adam |
| lr: 0.002 |
| postprocess: |
| anchor_args: |
| D: 1 |
| H: 200 |
| W: 704 |
| cav_lidar_range: *id014 |
| feature_stride: 2 |
| h: 1.56 |
| l: 3.9 |
| num: 2 |
| r: |
| - 0 |
| - 90 |
| vd: 4 |
| vh: 0.4 |
| vw: 0.4 |
| w: 1.6 |
| core_method: VoxelPostprocessor |
| ego_type: vehicle |
| max_num: 300 |
| nms_thresh: 0.15 |
| order: hwl |
| target_args: |
| neg_threshold: 0.45 |
| obj_threshold: 0.2 |
| pos_threshold: 0.6 |
| score_threshold: 0.2 |
| preprocess: |
| args: |
| max_points_per_voxel: 32 |
| max_voxel_test: 70000 |
| max_voxel_train: 32000 |
| voxel_size: *id015 |
| cav_lidar_range: *id014 |
| core_method: SpVoxelPreprocessor |
| ego_type: vehicle |
| root_dir: dataset/airv2x/train |
| seg_branch: both |
| seg_hw: 512 |
| seg_res: 0.25 |
| static_class: 3 |
| tag: default |
| task: det |
| train: true |
| train_params: |
| batch_size: 1 |
| epoches: 50 |
| eval_freq: 2 |
| max_cav: *id016 |
| save_freq: 1 |
| validate_dir: dataset/airv2x/val |
| test_dir: dataset/airv2x/test |
| yaml_parser: load_airv2x_params |
|
|
