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CasA-V.yaml
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CasA-V.yaml
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CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/waymo_tracking_dataset.yaml
NUM_FRAMES: 1
MERGE_FRAME: True
TL: False
SAMPLING: False
POINT_FEATURE_ENCODING: {
encoding_type: absolute_coordinates_encoding,
used_feature_list: ['x', 'y', 'z', 'intensity', 'elongation' ],
src_feature_list: ['x', 'y', 'z', 'intensity', 'elongation' ]}
MODEL:
NAME: VoxelRCNN
VFE:
NAME: MeanVFE
MODEL: 'max'
BACKBONE_3D:
NAME: VoxelResBackBone8x
NUM_FILTERS: [16, 32, 64, 128]
RETURN_NUM_FEATURES_AS_DICT: True
OUT_FEATURES: 128
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: AnchorHeadSingleV2
CLASS_AGNOSTIC: False
USE_DIRECTION_CLASSIFIER: True
DIR_OFFSET: 0.78539
DIR_LIMIT_OFFSET: 0.0
NUM_DIR_BINS: 4
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': 0.35,
'unmatched_threshold': 0.2
},
{
'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': 0.35,
'unmatched_threshold': 0.2
}
]
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]
}
ROI_HEAD:
NAME: CasA_V_V1
CLASS_AGNOSTIC: True
STAGES: 3
PART:
IN_CHANNEL: 512
SIZE: 7
GRID_OFFSETS: [75.2, 75.2]
FEATMAP_STRIDE: 0.4
SHARED_FC: [256, 256]
CLS_FC: [256, 256]
REG_FC: [256, 256]
DP_RATIO: 0.01
NMS_CONFIG:
TRAIN:
NMS_TYPE: nms_gpu
MULTI_CLASSES_NMS: False
NMS_PRE_MAXSIZE: 4000
NMS_POST_MAXSIZE: 700
NMS_THRESH: 0.8
TEST:
NMS_TYPE: nms_gpu
MULTI_CLASSES_NMS: False
USE_FAST_NMS: True
SCORE_THRESH: 0.0
NMS_PRE_MAXSIZE: 4000
NMS_POST_MAXSIZE: 500
NMS_THRESH: 0.8
ROI_GRID_POOL:
FEATURES_SOURCE: ['x_conv3','x_conv4']
PRE_MLP: True
GRID_SIZE: 6
POOL_LAYERS:
x_conv3:
MLPS: [[32, 32], [32, 32]]
QUERY_RANGES: [[2, 2, 2], [4, 4, 4]]
POOL_RADIUS: [0.4, 0.8]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
x_conv4:
MLPS: [[32, 32], [32, 32]]
QUERY_RANGES: [[2, 2, 2], [4, 4, 4]]
POOL_RADIUS: [0.8, 1.6]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
TARGET_CONFIG:
BOX_CODER: ResidualCoder
STAGE0:
ROI_PER_IMAGE: 160
FG_RATIO: 0.5
SAMPLE_ROI_BY_EACH_CLASS: True
CLS_SCORE_TYPE: roi_iou_x
CLS_FG_THRESH: [0.75, 0.65, 0.65]
CLS_BG_THRESH: [0.25, 0.15, 0.15]
CLS_BG_THRESH_LO: 0.1
HARD_BG_RATIO: 0.8
REG_FG_THRESH: [0.5, 0.45, 0.45]
STAGE1:
ROI_PER_IMAGE: 160
FG_RATIO: 0.5
SAMPLE_ROI_BY_EACH_CLASS: True
CLS_SCORE_TYPE: roi_iou_x
CLS_FG_THRESH: [0.75, 0.65, 0.65]
CLS_BG_THRESH: [0.25, 0.15, 0.15]
CLS_BG_THRESH_LO: 0.1
HARD_BG_RATIO: 0.8
REG_FG_THRESH: [0.55, 0.5, 0.5]
STAGE2:
ROI_PER_IMAGE: 160
FG_RATIO: 0.5
SAMPLE_ROI_BY_EACH_CLASS: True
CLS_SCORE_TYPE: roi_iou_x
CLS_FG_THRESH: [0.75, 0.65, 0.65]
CLS_BG_THRESH: [0.25, 0.15, 0.15]
CLS_BG_THRESH_LO: 0.1
HARD_BG_RATIO: 0.8
REG_FG_THRESH: [0.6, 0.55, 0.55]
LOSS_CONFIG:
CLS_LOSS: BinaryCrossEntropy
REG_LOSS: smooth-l1
CORNER_LOSS_REGULARIZATION: True
GRID_3D_IOU_LOSS: False
LOSS_WEIGHTS: {
'rcnn_cls_weight': 1.0,
'rcnn_reg_weight': 1.0,
'rcnn_corner_weight': 1.0,
'rcnn_iou3d_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: 0.3
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 50075
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: 32