163 lines
4.2 KiB
YAML
163 lines
4.2 KiB
YAML
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CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
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PROCESSED_DATA_TAG: 'waymo_processed_data_v0_5_0'
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SAMPLED_INTERVAL: {
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'train': 1,
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'test': 1
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}
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FILTER_EMPTY_BOXES_FOR_TRAIN: True
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DISABLE_NLZ_FLAG_ON_POINTS: True
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SEQUENCE_CONFIG:
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ENABLED: True
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SAMPLE_OFFSET: [-15,0]
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USE_PREDBOX: True
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ROI_BOXES_PATH: {
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'train': '../output/xxxxx/train/result.pkl', # example: predicted boxes of RPN in training set
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'test': '../output/xxxxx/val/result.pkl', # example: predicted boxes of RPN in evalulation set
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}
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DATA_AUGMENTOR:
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DISABLE_AUG_LIST: [ 'placeholder' ]
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AUG_CONFIG_LIST:
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- NAME: random_world_flip
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ALONG_AXIS_LIST: [ 'x', 'y' ]
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- NAME: random_world_rotation
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WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
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- NAME: random_world_scaling
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WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
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DATA_PROCESSOR:
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- NAME: mask_points_and_boxes_outside_range
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REMOVE_OUTSIDE_BOXES: True
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- NAME: shuffle_points
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SHUFFLE_ENABLED: {
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'train': True,
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'test': True
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}
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POINT_FEATURE_ENCODING: {
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encoding_type: absolute_coordinates_encoding,
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used_feature_list: ['x', 'y', 'z', 'intensity', 'elongation', 'time'],
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src_feature_list: ['x', 'y', 'z', 'intensity', 'elongation', 'time'],
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}
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MODEL:
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NAME: MPPNet
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ROI_HEAD:
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NAME: MPPNetHead
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TRANS_INPUT: 64
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CLASS_AGNOSTIC: True
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USE_BOX_ENCODING:
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ENABLED: True
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AVG_STAGE1_SCORE: True
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USE_TRAJ_EMPTY_MASK: True
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USE_AUX_LOSS: True
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IOU_WEIGHT: [0.5,0.4]
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ROI_GRID_POOL:
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GRID_SIZE: 4
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MLPS: [[64,64]]
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POOL_RADIUS: [0.8]
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NSAMPLE: [16]
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POOL_METHOD: max_pool
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Transformer:
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num_lidar_points: 128
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num_proxy_points: 64 # GRID_SIZE*GRID_SIZE*GRID_SIZE
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pos_hidden_dim: 64
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enc_layers: 3
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dim_feedforward: 512
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hidden_dim: 64 #equal to ROI_HEAD.TRANS_INPUT
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dropout: 0.1
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nheads: 4
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pre_norm: False
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num_frames: 16
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num_groups: 4
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sequence_stride: 4
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use_grid_pos:
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enabled: True
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init_type: index
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use_mlp_mixer:
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enabled: True
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hidden_dim: 16
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TARGET_CONFIG:
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BOX_CODER: ResidualCoder
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ROI_PER_IMAGE: 96
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FG_RATIO: 0.5
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REG_AUG_METHOD: single
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ROI_FG_AUG_TIMES: 10
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RATIO: 0.2
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USE_ROI_AUG: True
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USE_TRAJ_AUG:
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ENABLED: True
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THRESHOD: 0.8
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SAMPLE_ROI_BY_EACH_CLASS: True
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CLS_SCORE_TYPE: roi_iou
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CLS_FG_THRESH: 0.75
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CLS_BG_THRESH: 0.25
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CLS_BG_THRESH_LO: 0.1
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HARD_BG_RATIO: 0.8
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REG_FG_THRESH: 0.55
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LOSS_CONFIG:
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CLS_LOSS: BinaryCrossEntropy
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REG_LOSS: smooth-l1
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CORNER_LOSS_REGULARIZATION: True
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LOSS_WEIGHTS: {
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'rcnn_cls_weight': 1.0,
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'rcnn_reg_weight': 1.0,
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'rcnn_corner_weight': 2.0,
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'traj_reg_weight': [2.0, 2.0, 2.0],
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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}
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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SCORE_THRESH: 0.1
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OUTPUT_RAW_SCORE: False
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SAVE_BBOX: False
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EVAL_METRIC: waymo
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NOT_APPLY_NMS_FOR_VEL: True
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NMS_CONFIG:
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MULTI_CLASSES_NMS: False
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.7
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NMS_PRE_MAXSIZE: 4096
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NMS_POST_MAXSIZE: 500
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 2
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NUM_EPOCHS: 6
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OPTIMIZER: adam_onecycle
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LR: 0.003
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WEIGHT_DECAY: 0.01
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.4
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DIV_FACTOR: 10
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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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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GRAD_NORM_CLIP: 10
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