graph_rcnn_po.yaml

CLASS_NAMES: ['Car']

DATA_CONFIG: 
    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
    DATA_PROCESSOR:
      - NAME: mask_points_and_boxes_outside_range
        REMOVE_OUTSIDE_BOXES: True

      - NAME: sample_points
        NUM_POINTS: {
          'train': 16384,
          'test': 16384
        }
      
      - NAME: shuffle_points
        SHUFFLE_ENABLED: {
          'train': True,
          'test': False
        }

MODEL:
    NAME: GraphRCNN

    # FREEZE_LAYERS: ['PointNet2SAMSG', 'PointHeadVote']

    BACKBONE_3D:
      NAME: PointNet2SAMSG
      SA_CONFIG:
        NPOINTS: [[4096], [512, 512], [256, 256]]
        SAMPLE_RANGE: [[[0, 16384]], [[0, 4096], [0, 4096]], [[0, 512], [512, 1024]]]
        SAMPLE_METHOD: [['d-fps'], ['f-fps', 'd-fps'], ['f-fps', 'd-fps']]
        RADIUS: [[0.2, 0.4, 0.8], [0.4, 0.8, 1.6], [1.6, 3.2, 4.8]]
        NSAMPLE: [[32, 32, 64], [32, 32, 64], [32, 32, 64]]
        MLPS: [[[16, 16, 32], [16, 16, 32], [32, 32, 64]],
                [[64, 64, 128], [64, 64, 128], [64, 96, 128]],
                [[128, 128, 256], [128, 192, 256], [128, 256, 256]]]
        AGGREGATION_MLPS: [[64], [128], [256]]
        WEIGHT_GAMMA: 1.0
        DILATED_RADIUS_GROUP: True

    POINT_HEAD:
      NAME: PointHeadVote
      CLASS_AGNOSTIC: False

      VOTE_CONFIG:
        SAMPLE_RANGE: [0, 256] 
        VOTE_XYZ_RANGE: [3.0, 3.0, 2.0]
        MLPS: [128]

      VOTE_SA_CONFIG:
        RADIUS: [4.8, 6.4]
        NSAMPLE: [48, 64]
        MLPS: [[256, 256, 512], [256, 512, 1024]]

      SHARED_FC: [512, 256]
      CLS_FC: [128]
      REG_FC: [128]

      TARGET_CONFIG:
        GT_EXTRA_WIDTH: [0.1, 0.1, 0.1]
        GT_CENTRAL_RADIUS: 10.0
        AUX_GT_EXTRA_WIDTH: [1.0, 1.0, 1.0]
        BOX_CODER: PointBinResidualCoder
        BOX_CODER_CONFIG: {
          'angle_bin_num': 12,
          'use_mean_size': False,
          'mean_size': [
            [3.9, 1.6, 1.56]
          ]
        }

      LOSS_CONFIG:
        PREDICT_BOXES: True
        CLS_POS_NORM: False
        AUX_CLS_POS_NORM: False
        CLS_LOSS: WeightedBinaryCrossEntropyLossWithCenterness
        AUX_CLS_LOSS: WeightedBinaryCrossEntropyLoss
        REG_LOSS: WeightedSmoothL1Loss
        CORNER_LOSS_TYPE: 1
        LOSS_WEIGHTS: {
          'aux_cls_weight_list': [],
          'vote_cls_weight': 1.0,
          'vote_reg_weight': 1.0,
          'seed_reg_weight_list': [1.0],
          'vote_corner_weight': 1.0
        }

    ROI_HEAD:
        NAME: GraphRCNNHead
        CLASS_AGNOSTIC: True

        NMS_CONFIG:
            TRAIN:
                NMS_TYPE: nms_gpu
                MULTI_CLASSES_NMS: False
                NMS_PRE_MAXSIZE: 9000
                NMS_POST_MAXSIZE: 256
                NMS_THRESH: 0.8
            TEST:
                NMS_TYPE: nms_gpu
                MULTI_CLASSES_NMS: False
                NMS_PRE_MAXSIZE: 2048
                NMS_POST_MAXSIZE: 100
                NMS_THRESH: 0.7

        DFVS_CONFIG:
            NUM_DVS_POINTS: 2048
            NUM_FPS_POINTS: 128
            HASH_SIZE: 4099
            LAMBDA: 0.12
            DELTA: 50
            POOL_EXTRA_WIDTH: [0.5, 0.5, 0.5]
            NUM_BOXES_PER_PATCH: 32

        ATTN_GNN_CONFIG:
            IN_DIM: 10
            OUT_DIM: 512
            MLPS: [64, 64, 128]
            CALIB_DIM: 128
            EXP_MLPS: [128, 512]
            K: 4
            USE_FEATS_DIS: False
            USE_REDUCTION: False
            USE_SHORT_CUT: False

        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: WeightedSmoothL1Loss
            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: 0.3
        OUTPUT_RAW_SCORE: False

        EVAL_METRIC: kitti

        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: 4
    NUM_EPOCHS: 80

    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