From 01d24b9abbe0480fab046a07f0251707b97a69db Mon Sep 17 00:00:00 2001 From: inter Date: Sun, 21 Sep 2025 20:19:40 +0800 Subject: [PATCH] Add File --- tools/cfgs/waymo_models/pv_rcnn.yaml | 228 +++++++++++++++++++++++++++ 1 file changed, 228 insertions(+) create mode 100644 tools/cfgs/waymo_models/pv_rcnn.yaml diff --git a/tools/cfgs/waymo_models/pv_rcnn.yaml b/tools/cfgs/waymo_models/pv_rcnn.yaml new file mode 100644 index 0000000..b1423ed --- /dev/null +++ b/tools/cfgs/waymo_models/pv_rcnn.yaml @@ -0,0 +1,228 @@ +CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist'] + +DATA_CONFIG: + _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml + + +MODEL: + NAME: PVRCNN + + VFE: + NAME: MeanVFE + + BACKBONE_3D: + NAME: VoxelBackBone8x + + MAP_TO_BEV: + NAME: HeightCompression + NUM_BEV_FEATURES: 256 + + BACKBONE_2D: + NAME: BaseBEVBackbone + + LAYER_NUMS: [5, 5] + LAYER_STRIDES: [1, 2] + NUM_FILTERS: [128, 256] + UPSAMPLE_STRIDES: [1, 2] + NUM_UPSAMPLE_FILTERS: [256, 256] + + DENSE_HEAD: + NAME: AnchorHeadSingle + CLASS_AGNOSTIC: False + + USE_DIRECTION_CLASSIFIER: True + DIR_OFFSET: 0.78539 + DIR_LIMIT_OFFSET: 0.0 + NUM_DIR_BINS: 2 + + ANCHOR_GENERATOR_CONFIG: [ + { + 'class_name': 'Vehicle', + 'anchor_sizes': [[4.7, 2.1, 1.7]], + 'anchor_rotations': [0, 1.57], + 'anchor_bottom_heights': [0], + 'align_center': False, + 'feature_map_stride': 8, + 'matched_threshold': 0.55, + 'unmatched_threshold': 0.4 + }, + { + 'class_name': 'Pedestrian', + 'anchor_sizes': [[0.91, 0.86, 1.73]], + 'anchor_rotations': [0, 1.57], + 'anchor_bottom_heights': [0], + 'align_center': False, + 'feature_map_stride': 8, + 'matched_threshold': 0.5, + 'unmatched_threshold': 0.35 + }, + { + 'class_name': 'Cyclist', + 'anchor_sizes': [[1.78, 0.84, 1.78]], + 'anchor_rotations': [0, 1.57], + 'anchor_bottom_heights': [0], + 'align_center': False, + 'feature_map_stride': 8, + 'matched_threshold': 0.5, + 'unmatched_threshold': 0.35 + } + ] + + TARGET_ASSIGNER_CONFIG: + NAME: AxisAlignedTargetAssigner + POS_FRACTION: -1.0 + SAMPLE_SIZE: 512 + NORM_BY_NUM_EXAMPLES: False + MATCH_HEIGHT: False + BOX_CODER: ResidualCoder + + LOSS_CONFIG: + LOSS_WEIGHTS: { + 'cls_weight': 1.0, + 'loc_weight': 2.0, + 'dir_weight': 0.2, + 'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] + } + + PFE: + NAME: VoxelSetAbstraction + POINT_SOURCE: raw_points + NUM_KEYPOINTS: 4096 + NUM_OUTPUT_FEATURES: 128 + SAMPLE_METHOD: FPS + + FEATURES_SOURCE: ['bev', 'x_conv3', 'x_conv4', 'raw_points'] + SA_LAYER: + raw_points: + MLPS: [[16, 16], [16, 16]] + POOL_RADIUS: [0.4, 0.8] + NSAMPLE: [16, 16] + x_conv1: + DOWNSAMPLE_FACTOR: 1 + MLPS: [[16, 16], [16, 16]] + POOL_RADIUS: [0.4, 0.8] + NSAMPLE: [16, 16] + x_conv2: + DOWNSAMPLE_FACTOR: 2 + MLPS: [[32, 32], [32, 32]] + POOL_RADIUS: [0.8, 1.2] + NSAMPLE: [16, 32] + x_conv3: + DOWNSAMPLE_FACTOR: 4 + MLPS: [[64, 64], [64, 64]] + POOL_RADIUS: [1.2, 2.4] + NSAMPLE: [16, 32] + x_conv4: + DOWNSAMPLE_FACTOR: 8 + MLPS: [[64, 64], [64, 64]] + POOL_RADIUS: [2.4, 4.8] + NSAMPLE: [16, 32] + + POINT_HEAD: + NAME: PointHeadSimple + CLS_FC: [256, 256] + CLASS_AGNOSTIC: True + USE_POINT_FEATURES_BEFORE_FUSION: True + TARGET_CONFIG: + GT_EXTRA_WIDTH: [0.2, 0.2, 0.2] + LOSS_CONFIG: + LOSS_REG: smooth-l1 + LOSS_WEIGHTS: { + 'point_cls_weight': 1.0, + } + + ROI_HEAD: + NAME: PVRCNNHead + CLASS_AGNOSTIC: True + + SHARED_FC: [256, 256] + CLS_FC: [256, 256] + REG_FC: [256, 256] + DP_RATIO: 0.3 + + NMS_CONFIG: + TRAIN: + NMS_TYPE: nms_gpu + MULTI_CLASSES_NMS: False + NMS_PRE_MAXSIZE: 9000 + NMS_POST_MAXSIZE: 512 + NMS_THRESH: 0.8 + TEST: + NMS_TYPE: nms_gpu + MULTI_CLASSES_NMS: False +# NMS_PRE_MAXSIZE: 1024 +# NMS_POST_MAXSIZE: 100 +# NMS_THRESH: 0.7 + NMS_PRE_MAXSIZE: 4096 + NMS_POST_MAXSIZE: 300 + NMS_THRESH: 0.85 + + + ROI_GRID_POOL: + GRID_SIZE: 6 + MLPS: [[64, 64], [64, 64]] + POOL_RADIUS: [0.8, 1.6] + NSAMPLE: [16, 16] + POOL_METHOD: max_pool + + TARGET_CONFIG: + BOX_CODER: ResidualCoder + ROI_PER_IMAGE: 128 + FG_RATIO: 0.5 + + SAMPLE_ROI_BY_EACH_CLASS: True + CLS_SCORE_TYPE: roi_iou + + CLS_FG_THRESH: 0.75 + CLS_BG_THRESH: 0.25 + CLS_BG_THRESH_LO: 0.1 + HARD_BG_RATIO: 0.8 + + REG_FG_THRESH: 0.55 + + LOSS_CONFIG: + CLS_LOSS: BinaryCrossEntropy + REG_LOSS: smooth-l1 + CORNER_LOSS_REGULARIZATION: True + LOSS_WEIGHTS: { + 'rcnn_cls_weight': 1.0, + 'rcnn_reg_weight': 1.0, + 'rcnn_corner_weight': 1.0, + 'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] + } + + POST_PROCESSING: + RECALL_THRESH_LIST: [0.3, 0.5, 0.7] + SCORE_THRESH: 0.1 + OUTPUT_RAW_SCORE: False + + EVAL_METRIC: waymo + + NMS_CONFIG: + MULTI_CLASSES_NMS: False + NMS_TYPE: nms_gpu + NMS_THRESH: 0.7 + NMS_PRE_MAXSIZE: 4096 + NMS_POST_MAXSIZE: 500 + + +OPTIMIZATION: + BATCH_SIZE_PER_GPU: 2 + NUM_EPOCHS: 30 + + OPTIMIZER: adam_onecycle + LR: 0.01 + WEIGHT_DECAY: 0.001 + MOMENTUM: 0.9 + + MOMS: [0.95, 0.85] + PCT_START: 0.4 + DIV_FACTOR: 10 + DECAY_STEP_LIST: [35, 45] + LR_DECAY: 0.1 + LR_CLIP: 0.0000001 + + LR_WARMUP: False + WARMUP_EPOCH: 1 + + GRAD_NORM_CLIP: 10 \ No newline at end of file