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uda_pv_rcnn_plusplus_resnet_anchorhead.yaml
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uda_pv_rcnn_plusplus_resnet_anchorhead.yaml
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CLASS_NAMES: ['car','truck','bus','motorcycle','bicycle','pedestrian']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset_da.yaml
MAX_SWEEPS: 10
POINT_FEATURE_ENCODING: {
encoding_type: absolute_coordinates_encoding,
used_feature_list: ['x', 'y', 'z','timestamp'],
src_feature_list: ['x', 'y', 'z','intensity','timestamp'],
}
MODEL:
NAME: PVRCNNPlusPlus
VFE:
NAME: MeanVFE
BACKBONE_3D:
NAME: VoxelResBackBone8x
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': car,
'anchor_sizes': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'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': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'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': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'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': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
}
]
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': 0.25,
'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: 90
SAMPLE_METHOD: SPC
SPC_SAMPLING:
NUM_SECTORS: 6
SAMPLE_RADIUS_WITH_ROI: 1.6
FEATURES_SOURCE: ['bev', 'x_conv3', 'x_conv4', 'raw_points']
SA_LAYER:
raw_points:
NAME: VectorPoolAggregationModuleMSG
NUM_GROUPS: 2
LOCAL_AGGREGATION_TYPE: local_interpolation
NUM_REDUCED_CHANNELS: 1
NUM_CHANNELS_OF_LOCAL_AGGREGATION: 32
MSG_POST_MLPS: [ 32 ]
FILTER_NEIGHBOR_WITH_ROI: True
RADIUS_OF_NEIGHBOR_WITH_ROI: 2.4
GROUP_CFG_0:
NUM_LOCAL_VOXEL: [ 2, 2, 2 ]
MAX_NEIGHBOR_DISTANCE: 0.2
NEIGHBOR_NSAMPLE: -1
POST_MLPS: [ 32, 32 ]
GROUP_CFG_1:
NUM_LOCAL_VOXEL: [ 3, 3, 3 ]
MAX_NEIGHBOR_DISTANCE: 0.4
NEIGHBOR_NSAMPLE: -1
POST_MLPS: [ 32, 32 ]
x_conv3:
DOWNSAMPLE_FACTOR: 4
INPUT_CHANNELS: 64
NAME: VectorPoolAggregationModuleMSG
NUM_GROUPS: 2
LOCAL_AGGREGATION_TYPE: local_interpolation
NUM_REDUCED_CHANNELS: 32
NUM_CHANNELS_OF_LOCAL_AGGREGATION: 32
MSG_POST_MLPS: [128]
FILTER_NEIGHBOR_WITH_ROI: True
RADIUS_OF_NEIGHBOR_WITH_ROI: 4.0
GROUP_CFG_0:
NUM_LOCAL_VOXEL: [3, 3, 3]
MAX_NEIGHBOR_DISTANCE: 1.2
NEIGHBOR_NSAMPLE: -1
POST_MLPS: [64, 64]
GROUP_CFG_1:
NUM_LOCAL_VOXEL: [ 3, 3, 3 ]
MAX_NEIGHBOR_DISTANCE: 2.4
NEIGHBOR_NSAMPLE: -1
POST_MLPS: [ 64, 64 ]
x_conv4:
DOWNSAMPLE_FACTOR: 8
INPUT_CHANNELS: 64
NAME: VectorPoolAggregationModuleMSG
NUM_GROUPS: 2
LOCAL_AGGREGATION_TYPE: local_interpolation
NUM_REDUCED_CHANNELS: 32
NUM_CHANNELS_OF_LOCAL_AGGREGATION: 32
MSG_POST_MLPS: [ 128 ]
FILTER_NEIGHBOR_WITH_ROI: True
RADIUS_OF_NEIGHBOR_WITH_ROI: 6.4
GROUP_CFG_0:
NUM_LOCAL_VOXEL: [ 3, 3, 3 ]
MAX_NEIGHBOR_DISTANCE: 2.4
NEIGHBOR_NSAMPLE: -1
POST_MLPS: [ 64, 64 ]
GROUP_CFG_1:
NUM_LOCAL_VOXEL: [ 3, 3, 3 ]
MAX_NEIGHBOR_DISTANCE: 4.8
NEIGHBOR_NSAMPLE: -1
POST_MLPS: [ 64, 64 ]
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: 9500
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
SCORE_THRESH: 0.1
# NMS_PRE_MAXSIZE: 4096
# NMS_POST_MAXSIZE: 500
# NMS_THRESH: 0.85
ROI_GRID_POOL:
GRID_SIZE: 6
NAME: VectorPoolAggregationModuleMSG
NUM_GROUPS: 2
LOCAL_AGGREGATION_TYPE: voxel_random_choice
NUM_REDUCED_CHANNELS: 30
NUM_CHANNELS_OF_LOCAL_AGGREGATION: 32
MSG_POST_MLPS: [ 128 ]
GROUP_CFG_0:
NUM_LOCAL_VOXEL: [ 3, 3, 3 ]
MAX_NEIGHBOR_DISTANCE: 0.8
NEIGHBOR_NSAMPLE: 32
POST_MLPS: [ 64, 64 ]
GROUP_CFG_1:
NUM_LOCAL_VOXEL: [ 3, 3, 3 ]
MAX_NEIGHBOR_DISTANCE: 1.6
NEIGHBOR_NSAMPLE: 32
POST_MLPS: [ 64, 64 ]
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: kitti
NMS_CONFIG:
MULTI_CLASSES_NMS: False
NMS_TYPE: nms_gpu
NMS_THRESH: 0.2
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 2
NUM_EPOCHS: 20
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