P2B_Car_Waymo.yaml

#data
dataset: waymo
path:  /raid/databases/Waymo/ #put the root of the dataset here
category_name: Vehicle # [Vehicle, Pedestrian, Cyclist]
search_bb_scale: 1.25
search_bb_offset: 2
model_bb_scale: 1.25
model_bb_offset: 0
template_size: 512
search_size: 1024
random_sample: False
sample_per_epoch: -1
degrees: True # use degrees or radians
box_aware: True
num_candidates: 4
coordinate_mode: velodyne
up_axis: [0,0,1]
train_split: train
val_split: test
test_split: test
preload_offset: 10
tiny: False # for debug only

#model configuration
net_model: P2B
use_fps: False
normalize_xyz: False
feature_channel: 256 #the output channel of backbone
hidden_channel: 256 #the hidden channel of xcorr
out_channel: 256 #the output channel of xcorr
vote_channel: 256 #the channel for vote aggregation
num_proposal: 64
k: 4
use_search_bc: False
use_search_feature: False
bc_channel: 9

#loss configuration
objectiveness_weight: 1.5
box_weight: 0.2
vote_weight: 1.0
seg_weight: 0.2
bc_weight: 1.0

# testing config
reference_BB: previous_result
shape_aggregation: firstandprevious
use_z: False
limit_box: True
IoU_space: 3

#training
batch_size: 50 #batch_size per gpu
workers: 10
epoch: 60
from_epoch: 0
lr: 0.001
optimizer: Adam
lr_decay_step: 5
lr_decay_rate: 0.1
wd: 0