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CasA-V-Center.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, 64]
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: CenterHead
CLASS_AGNOSTIC: False
CLASS_NAMES_EACH_HEAD: [
[ 'Vehicle', 'Pedestrian', 'Cyclist' ]
]
SHARED_CONV_CHANNEL: 64
USE_BIAS_BEFORE_NORM: True
NUM_HM_CONV: 2
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 },
}
TARGET_ASSIGNER_CONFIG:
FEATURE_MAP_STRIDE: 8
NUM_MAX_OBJS: 500
GAUSSIAN_OVERLAP: 0.1
MIN_RADIUS: 2
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: [ -75.2, -75.2, -2, 75.2, 75.2, 4 ]
MAX_OBJ_PER_SAMPLE: 500
NMS_CONFIG:
NMS_TYPE: nms_gpu
NMS_THRESH: 0.7
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
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