/
dsvt_voxel.yaml
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/
dsvt_voxel.yaml
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CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml
SAMPLED_INTERVAL: {'train': 1, 'test': 1}
POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
POINTS_TANH_DIM: [3, 4]
DATA_AUGMENTOR:
DISABLE_AUG_LIST: ['placeholder']
AUG_CONFIG_LIST:
- NAME: gt_sampling
USE_ROAD_PLANE: False
DB_INFO_PATH:
- waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl
USE_SHARED_MEMORY: True # set it to True to speed up (it costs about 15GB shared memory)
DB_DATA_PATH:
- waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy
BACKUP_DB_INFO:
# if the above DB_INFO cannot be found, will use this backup one
DB_INFO_PATH: waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl
DB_DATA_PATH: waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.npy
NUM_POINT_FEATURES: 6
PREPARE: {
filter_by_min_points: ['Vehicle:5', 'Pedestrian:10', 'Cyclist:10'],
filter_by_difficulty: [-1],
}
SAMPLE_GROUPS: ['Vehicle:15', 'Pedestrian:10', 'Cyclist:10']
NUM_POINT_FEATURES: 5
REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
LIMIT_WHOLE_SCENE: True
- NAME: random_world_flip
ALONG_AXIS_LIST: ['x', 'y']
- NAME: random_world_rotation
WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
- NAME: random_world_scaling
WORLD_SCALE_RANGE: [0.95, 1.05]
- NAME: random_world_translation
NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': True
}
- NAME: transform_points_to_voxels_placeholder
VOXEL_SIZE: [ 0.32, 0.32, 0.1875]
MODEL:
NAME: CenterPoint
VFE:
NAME: DynamicVoxelVFE
WITH_DISTANCE: False
USE_ABSLOTE_XYZ: True
USE_NORM: True
NUM_FILTERS: [ 192, 192 ]
BACKBONE_3D:
NAME: DSVT
INPUT_LAYER:
sparse_shape: [468, 468, 32]
downsample_stride: [[1, 1, 4], [1, 1, 4], [1, 1, 2]]
d_model: [192, 192, 192, 192]
set_info: [[48, 1], [48, 1], [48, 1], [48, 1]]
window_shape: [[12, 12, 32], [12, 12, 8], [12, 12, 2], [12, 12, 1]]
hybrid_factor: [2, 2, 1] # x, y, z
shifts_list: [[[0, 0, 0], [6, 6, 0]], [[0, 0, 0], [6, 6, 0]], [[0, 0, 0], [6, 6, 0]], [[0, 0, 0], [6, 6, 0]]]
normalize_pos: False
block_name: ['DSVTBlock','DSVTBlock','DSVTBlock','DSVTBlock']
set_info: [[48, 1], [48, 1], [48, 1], [48, 1]]
d_model: [192, 192, 192, 192]
nhead: [8, 8, 8, 8]
dim_feedforward: [384, 384, 384, 384]
dropout: 0.0
activation: gelu
reduction_type: 'attention'
output_shape: [468, 468]
conv_out_channel: 192
# You can enable torch.utils.checkpoint to save GPU memory
# USE_CHECKPOINT: True
MAP_TO_BEV:
NAME: PointPillarScatter3d
INPUT_SHAPE: [468, 468, 1]
NUM_BEV_FEATURES: 192
BACKBONE_2D:
NAME: BaseBEVResBackbone
LAYER_NUMS: [ 1, 2, 2 ]
LAYER_STRIDES: [ 1, 2, 2 ]
NUM_FILTERS: [ 128, 128, 256 ]
UPSAMPLE_STRIDES: [ 1, 2, 4 ]
NUM_UPSAMPLE_FILTERS: [ 128, 128, 128 ]
DENSE_HEAD:
NAME: CenterHead
CLASS_AGNOSTIC: False
CLASS_NAMES_EACH_HEAD: [
['Vehicle', 'Pedestrian', 'Cyclist']
]
SHARED_CONV_CHANNEL: 64
USE_BIAS_BEFORE_NORM: False
NUM_HM_CONV: 2
BN_EPS: 0.001
BN_MOM: 0.01
SEPARATE_HEAD_CFG:
HEAD_ORDER: ['center', 'center_z', 'dim', 'rot']
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: 1
NUM_MAX_OBJS: 500
GAUSSIAN_OVERLAP: 0.1
MIN_RADIUS: 2
IOU_REG_LOSS: True
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: 0.1
POST_CENTER_LIMIT_RANGE: [-80, -80, -10.0, 80, 80, 10.0]
MAX_OBJ_PER_SAMPLE: 500
USE_IOU_TO_RECTIFY_SCORE: True
IOU_RECTIFIER: [0.68, 0.71, 0.65]
NMS_CONFIG:
NMS_TYPE: class_specific_nms
NMS_THRESH: [0.75, 0.6, 0.55]
NMS_PRE_MAXSIZE: [4096, 4096, 4096]
NMS_POST_MAXSIZE: [500, 500, 500]
POST_PROCESSING:
RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
EVAL_METRIC: waymo
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 3
NUM_EPOCHS: 24
OPTIMIZER: adam_onecycle
LR: 0.003
WEIGHT_DECAY: 0.05
MOMENTUM: 0.9
MOMS: [0.95, 0.85]
PCT_START: 0.1
DIV_FACTOR: 100
DECAY_STEP_LIST: [35, 45]
LR_DECAY: 0.1
LR_CLIP: 0.0000001
LR_WARMUP: False
WARMUP_EPOCH: 1
GRAD_NORM_CLIP: 10
LOSS_SCALE_FP16: 32.0
HOOK:
DisableAugmentationHook:
DISABLE_AUG_LIST: ['gt_sampling','random_world_flip','random_world_rotation','random_world_scaling', 'random_world_translation']
NUM_LAST_EPOCHS: 1