pv_rcnn.yaml

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

        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: 0.1
            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