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LoGoNet-5f.yaml
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CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/det_dataset_cfgs/waymo_five_sweeps_mm.yaml
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': False
}
- NAME: transform_points_to_voxels_placeholder
VOXEL_SIZE: [0.10, 0.10, 0.15]
- NAME: pad_image
TARGET_SHAPE: [960, 640]
MODEL:
NAME: CenterPointMM
SECOND_STAGE: True
# remember to use "--pretrained_model" to load 1-stage checkpoint
VFE:
NAME: DynamicMeanVFE
IMAGE_BACKBONE:
NAME: MMDETFPN
FREEZE_IMGBACKBONE: True
# IMGPRETRAINED_MODEL: '../output_s2/det_model_cfgs/pretrained_ckpt/swin_tiny_patch4_window7_224.pth'
IFN:
ARGS: {
"feat_extract_layer": ["layer1"],
}
CHANNEL_REDUCE: {
"in_channels": [256],
"out_channels": [64],
"kernel_size": [1],
"stride": [1],
"bias": [False]
}
IMGCONFIG: {
type: 'SwinTransformer',
embed_dim: 96,
depths: [2, 2, 6, 2],
num_heads: [3, 6, 12, 24],
window_size: 7,
mlp_ratio: 4,
qkv_bias: True,
qk_scale: None,
drop_rate: 0.,
attn_drop_rate: 0.,
drop_path_rate: 0.2,
ape: False,
patch_norm: True,
out_indices: [0, 1, 2, 3],
use_checkpoint: False,
}
FPNCONFIG: {
type: 'FPN',
in_channels: [96, 192, 384, 768],
out_channels: 256,
num_outs: 5
}
BACKBONE_3D:
NAME: Backbone3D_align
MAP_TO_BEV:
NAME: HeightCompression
NUM_BEV_FEATURES: 256
BACKBONE_2D:
NAME: Backbone2D
LAYER_NUMS: [5, 5]
LAYER_STRIDES: [1, 2]
NUM_FILTERS: [128, 256]
UPSAMPLE_STRIDES: [1, 2]
NUM_UPSAMPLE_FILTERS: [256, 256]
DENSE_HEAD:
NAME: CenterHeadIOU
CLASS_AGNOSTIC: False
CLASS_NAMES_EACH_HEAD: [
[ 'Vehicle', 'Pedestrian', 'Cyclist' ]
]
SHARED_CONV_CHANNEL: 64
USE_BIAS_BEFORE_NORM: True
NUM_HM_CONV: 2
IOU_WEIGHT: 1
SEPARATE_HEAD_CFG:
HEAD_ORDER: [ 'center', 'center_z', 'dim', 'rot', 'iou']
HEAD_DICT: {
'center': { 'out_channels': 2, 'num_conv': 2 },
'center_z': { 'out_channels': 1, 'num_conv': 2 },
'dim': { 'out_channels': 3, 'num_conv': 2 },
'rot': { 'out_channels': 2, 'num_conv': 2 },
'iou': { 'out_channels': 1, 'num_conv': 2 },
}
TARGET_ASSIGNER_CONFIG:
FEATURE_MAP_STRIDE: 8
NUM_MAX_OBJS: 500
GAUSSIAN_OVERLAP: 0.1
MIN_RADIUS: 2
LOSS_CONFIG:
LOSS_WEIGHTS: {
'cls_weight': 1.0,
'loc_weight': 2.0,
'code_weights': [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ]
}
POST_PROCESSING:
SCORE_THRESH: 0.03
POST_CENTER_LIMIT_RANGE: [-80, -80, -10.0, 80, 80, 10.0]
MAX_OBJ_PER_SAMPLE: 500
NMS_CONFIG:
NMS_TYPE: nms_gpu
NMS_THRESH: 0.7
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
ROI_HEAD:
NAME: LoGoHead
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: 512
NMS_THRESH: 0.7
VOXEL_AGGREGATION:
NUM_FEATURES: [64, 128]
FEATURE_LOCATIONS: [x_conv3, x_conv4]
ROI_GRID_POOL:
FEATURE_LOCATIONS: [x_conv3, x_conv4]
GRID_SIZE: 6
POOL_LAYERS:
x_conv3:
MLPS: [[32, 32], [32, 32]]
POOL_RADIUS: [0.8, 1.2]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
USE_DENSITY: True
x_conv4:
MLPS: [[64, 64], [64, 64]]
POOL_RADIUS: [1.2, 2.4]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
USE_DENSITY: True
FUSION:
NAME: VoxelWithPointProjectionV2
FUSE_MODE: 'crossattention_deform'
CAMERAS: ['camera_0', 'camera_1', 'camera_2', 'camera_3', 'camera_4']
IMAGE_SCALE: 0.5
DEPTH_THRES: {'camera_0': 0, 'camera_1': 0, 'camera_2': 0, 'camera_3': 0, 'camera_4': 0}
LAYER_CHANNEL: {'layer1': 64}
MID_CHANNELS: 64
FUSE_OUT: True
ATTENTION:
ENABLED: True
NUM_FEATURES: 192
NUM_HEADS: 1
NUM_HIDDEN_FEATURES: 128
NUM_LAYERS: 1
POSITIONAL_ENCODER: density_grid_points
MAX_NUM_BOXES: 20
DROPOUT: 0.1
COMBINE: True
MASK_EMPTY_POINTS: True
DENSITYQUERY:
ENABLED: True
NUM_FEATURES: 192
NUM_HIDDEN_FEATURES: 128
POSITIONAL_ENCODER: density_grid_points
MAX_NUM_BOXES: 20
DROPOUT: 0.1
COMBINE: True
MASK_EMPTY_POINTS: True
DENSITY_CONFIDENCE:
ENABLED: False
GRID_SIZE: 1
MAX_NUM_BOXES: 20
ADD_SHARED_FEATURES: True
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: 0.03
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: 1
NUM_EPOCHS: 6
OPTIMIZER: adam_onecycle
LR: 0.003
WEIGHT_DECAY: 0.01
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