141 lines
3.7 KiB
YAML
141 lines
3.7 KiB
YAML
CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
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POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
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DATA_PROCESSOR:
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- NAME: mask_points_and_boxes_outside_range
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REMOVE_OUTSIDE_BOXES: True
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- NAME: shuffle_points
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SHUFFLE_ENABLED: {
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'train': True,
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'test': True
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}
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- NAME: transform_points_to_voxels
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VOXEL_SIZE: [ 0.32, 0.32, 6.0 ]
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MAX_POINTS_PER_VOXEL: 20
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MAX_NUMBER_OF_VOXELS: {
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'train': 150000,
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'test': 150000
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}
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MODEL:
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NAME: PointPillar
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VFE:
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NAME: PillarVFE
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WITH_DISTANCE: False
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USE_ABSLOTE_XYZ: True
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USE_NORM: True
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NUM_FILTERS: [ 64, 64 ]
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MAP_TO_BEV:
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NAME: PointPillarScatter
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NUM_BEV_FEATURES: 64
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BACKBONE_2D:
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NAME: BaseBEVBackbone
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LAYER_NUMS: [ 3, 5, 5 ]
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LAYER_STRIDES: [ 1, 2, 2 ]
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NUM_FILTERS: [ 64, 128, 256 ]
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UPSAMPLE_STRIDES: [ 1, 2, 4 ]
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NUM_UPSAMPLE_FILTERS: [ 128, 128, 128 ]
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DENSE_HEAD:
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NAME: AnchorHeadSingle
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CLASS_AGNOSTIC: False
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USE_DIRECTION_CLASSIFIER: True
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DIR_OFFSET: 0.78539
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DIR_LIMIT_OFFSET: 0.0
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NUM_DIR_BINS: 2
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ANCHOR_GENERATOR_CONFIG: [
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{
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'class_name': 'Vehicle',
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'anchor_sizes': [ [ 4.7, 2.1, 1.7 ] ],
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'anchor_rotations': [ 0, 1.57 ],
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'anchor_bottom_heights': [ 0 ],
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'align_center': False,
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'feature_map_stride': 1,
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'matched_threshold': 0.55,
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'unmatched_threshold': 0.4
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},
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{
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'class_name': 'Pedestrian',
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'anchor_sizes': [ [ 0.91, 0.86, 1.73 ] ],
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'anchor_rotations': [ 0, 1.57 ],
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'anchor_bottom_heights': [ 0 ],
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'align_center': False,
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'feature_map_stride': 1,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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},
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{
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'class_name': 'Cyclist',
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'anchor_sizes': [ [ 1.78, 0.84, 1.78 ] ],
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'anchor_rotations': [ 0, 1.57 ],
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'anchor_bottom_heights': [ 0 ],
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'align_center': False,
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'feature_map_stride': 1,
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'matched_threshold': 0.5,
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'unmatched_threshold': 0.35
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}
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]
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TARGET_ASSIGNER_CONFIG:
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NAME: AxisAlignedTargetAssigner
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POS_FRACTION: -1.0
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SAMPLE_SIZE: 512
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NORM_BY_NUM_EXAMPLES: False
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MATCH_HEIGHT: False
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BOX_CODER: ResidualCoder
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 2.0,
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'dir_weight': 0.2,
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'code_weights': [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ]
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}
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POST_PROCESSING:
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RECALL_THRESH_LIST: [ 0.3, 0.5, 0.7 ]
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SCORE_THRESH: 0.1
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OUTPUT_RAW_SCORE: False
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EVAL_METRIC: waymo
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NMS_CONFIG:
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MULTI_CLASSES_NMS: False
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.7
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NMS_PRE_MAXSIZE: 4096
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NMS_POST_MAXSIZE: 500
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 2
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NUM_EPOCHS: 30
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OPTIMIZER: adam_onecycle
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LR: 0.003
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WEIGHT_DECAY: 0.01
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.4
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DIV_FACTOR: 10
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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LR_CLIP: 0.0000001
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LR_WARMUP: False
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WARMUP_EPOCH: 1
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GRAD_NORM_CLIP: 10
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