250 lines
6.8 KiB
YAML
250 lines
6.8 KiB
YAML
CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
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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: gt_sampling
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USE_ROAD_PLANE: True
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DB_INFO_PATH:
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- kitti_dbinfos_train.pkl
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PREPARE: {
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filter_by_min_points: ['Car:5', 'Pedestrian:5', 'Cyclist:5'],
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filter_by_difficulty: [-1],
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}
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SAMPLE_GROUPS: ['Car:15','Pedestrian:10', 'Cyclist:10']
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NUM_POINT_FEATURES: 4
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DATABASE_WITH_FAKELIDAR: False
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REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
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LIMIT_WHOLE_SCENE: False
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- NAME: random_world_flip
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ALONG_AXIS_LIST: ['x']
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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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MODEL:
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NAME: PVRCNN
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VFE:
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NAME: MeanVFE
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BACKBONE_3D:
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NAME: VoxelBackBone8x
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MAP_TO_BEV:
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NAME: HeightCompression
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NUM_BEV_FEATURES: 256
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BACKBONE_2D:
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NAME: BaseBEVBackbone
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LAYER_NUMS: [5, 5]
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LAYER_STRIDES: [1, 2]
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NUM_FILTERS: [128, 256]
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UPSAMPLE_STRIDES: [1, 2]
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NUM_UPSAMPLE_FILTERS: [256, 256]
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DENSE_HEAD:
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NAME: AnchorHeadSingle
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CLASS_AGNOSTIC: False
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USE_DIRECTION_CLASSIFIER: True
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DIR_OFFSET: 0.78539
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DIR_LIMIT_OFFSET: 0.0
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NUM_DIR_BINS: 2
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ANCHOR_GENERATOR_CONFIG: [
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{
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'class_name': 'Car',
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'anchor_sizes': [[3.9, 1.6, 1.56]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-1.78],
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'align_center': False,
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'feature_map_stride': 8,
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'matched_threshold': 0.6,
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'unmatched_threshold': 0.45
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},
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{
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'class_name': 'Pedestrian',
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'anchor_sizes': [[0.8, 0.6, 1.73]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-0.6],
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'align_center': False,
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'feature_map_stride': 8,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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},
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{
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'class_name': 'Cyclist',
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'anchor_sizes': [[1.76, 0.6, 1.73]],
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'anchor_rotations': [0, 1.57],
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'anchor_bottom_heights': [-0.6],
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'align_center': False,
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'feature_map_stride': 8,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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}
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]
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TARGET_ASSIGNER_CONFIG:
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NAME: AxisAlignedTargetAssigner
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POS_FRACTION: -1.0
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SAMPLE_SIZE: 512
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NORM_BY_NUM_EXAMPLES: False
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MATCH_HEIGHT: False
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BOX_CODER: ResidualCoder
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 2.0,
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'dir_weight': 0.2,
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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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PFE:
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NAME: VoxelSetAbstraction
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POINT_SOURCE: raw_points
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NUM_KEYPOINTS: 2048
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NUM_OUTPUT_FEATURES: 128
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SAMPLE_METHOD: FPS
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FEATURES_SOURCE: ['bev', 'x_conv1', 'x_conv2', 'x_conv3', 'x_conv4', 'raw_points']
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SA_LAYER:
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raw_points:
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MLPS: [[16, 16], [16, 16]]
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POOL_RADIUS: [0.4, 0.8]
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NSAMPLE: [16, 16]
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x_conv1:
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DOWNSAMPLE_FACTOR: 1
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MLPS: [[16, 16], [16, 16]]
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POOL_RADIUS: [0.4, 0.8]
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NSAMPLE: [16, 16]
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x_conv2:
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DOWNSAMPLE_FACTOR: 2
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MLPS: [[32, 32], [32, 32]]
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POOL_RADIUS: [0.8, 1.2]
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NSAMPLE: [16, 32]
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x_conv3:
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DOWNSAMPLE_FACTOR: 4
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MLPS: [[64, 64], [64, 64]]
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POOL_RADIUS: [1.2, 2.4]
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NSAMPLE: [16, 32]
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x_conv4:
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DOWNSAMPLE_FACTOR: 8
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MLPS: [[64, 64], [64, 64]]
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POOL_RADIUS: [2.4, 4.8]
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NSAMPLE: [16, 32]
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POINT_HEAD:
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NAME: PointHeadSimple
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CLS_FC: [256, 256]
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CLASS_AGNOSTIC: True
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USE_POINT_FEATURES_BEFORE_FUSION: True
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TARGET_CONFIG:
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GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
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LOSS_CONFIG:
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LOSS_REG: smooth-l1
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LOSS_WEIGHTS: {
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'point_cls_weight': 1.0,
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}
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ROI_HEAD:
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NAME: PVRCNNHead
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CLASS_AGNOSTIC: True
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SHARED_FC: [256, 256]
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CLS_FC: [256, 256]
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REG_FC: [256, 256]
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DP_RATIO: 0.3
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NMS_CONFIG:
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TRAIN:
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NMS_TYPE: nms_gpu
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MULTI_CLASSES_NMS: False
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NMS_PRE_MAXSIZE: 9000
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NMS_POST_MAXSIZE: 512
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NMS_THRESH: 0.8
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TEST:
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NMS_TYPE: nms_gpu
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MULTI_CLASSES_NMS: False
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NMS_PRE_MAXSIZE: 1024
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NMS_POST_MAXSIZE: 100
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NMS_THRESH: 0.7
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ROI_GRID_POOL:
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GRID_SIZE: 6
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MLPS: [[64, 64], [64, 64]]
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POOL_RADIUS: [0.8, 1.6]
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NSAMPLE: [16, 16]
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POOL_METHOD: max_pool
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TARGET_CONFIG:
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BOX_CODER: ResidualCoder
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ROI_PER_IMAGE: 128
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FG_RATIO: 0.5
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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': 1.0,
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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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EVAL_METRIC: kitti
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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: 0.1
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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: 80
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OPTIMIZER: adam_onecycle
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LR: 0.01
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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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