Skip to content

GitLab

"tools/cfgs/waymo_models/pillarnet.yaml" did not exist on "82987c4d79aaddc31f7c9c6c95f112f876dd9337"
Switch branch/tag
Find file Normal viewHistoryPermalink
pointpillar.yaml 3.26 KB
Newer Older
Gus-Guo's avatar
update config of pointpillar  
Gus-Guo committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128 
CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']

DATA_CONFIG: 
    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
    POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]
    DATA_PROCESSOR:
        - NAME: mask_points_and_boxes_outside_range
          REMOVE_OUTSIDE_BOXES: True

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

        - NAME: transform_points_to_voxels
          VOXEL_SIZE: [0.16, 0.16, 4]
          MAX_POINTS_PER_VOXEL: 32
          MAX_NUMBER_OF_VOXELS: {
            'train': 16000,
            'test': 40000
          }

MODEL:
    NAME: PointPillar

    VFE:
        NAME: PillarVFE
        WITH_DISTANCE: False
        USE_ABSLOTE_XYZ: True
        USE_NORM: True
        NUM_FILTERS: [64]

    MAP_TO_BEV:
        NAME: PointPillarScatter
        NUM_BEV_FEATURES: 64

    BACKBONE_2D:
        NAME: BaseBEVBackbone
        LAYER_NUMS: [3, 5, 5]
        LAYER_STRIDES: [2, 2, 2]
        NUM_FILTERS: [64, 128, 256]
        UPSAMPLE_STRIDES: [1, 2, 4]
        NUM_UPSAMPLE_FILTERS: [128, 128, 128]

    DENSE_HEAD:
        NAME: AnchorHeadSingle
        CLASS_AGNOSTIC: False

        USE_DIRECTION_CLASSIFIER: True
        DIR_OFFSET: 0.78539
        DIR_LIMIT_OFFSET: 0.0
        NUM_DIR_BINS: 2

        ANCHOR_GENERATOR_CONFIG: [
            {
                'anchor_sizes': [[3.9, 1.6, 1.56]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-1.78],
                'align_center': False,
                'feature_map_stride': 2
            },
            {
                'anchor_sizes': [[0.8, 0.6, 1.73]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-0.6],
                'align_center': False,
                'feature_map_stride': 2
            },
            {
                'anchor_sizes': [[1.76, 0.6, 1.73]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [-0.6],
                'align_center': False,
                'feature_map_stride': 2
            }
        ]

        TARGET_ASSIGNER_CONFIG:
            NAME: AxisAlignedTargetAssigner
            POS_FRACTION: -1.0
            SAMPLE_SIZE: 512
            MATCHED_THRESHOLDS: [0.6, 0.5, 0.5]
            UNMATCHED_THRESHOLDS: [0.45, 0.35, 0.35]
            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]
            }

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
        SCORE_THRESH: 0.1
        OUTPUT_RAW_SCORE: False

        EVAL_METRIC: kitti

        NMS_CONFIG:
            MULTI_CLASSES_NMS: False
            NMS_TYPE: nms_gpu
            NMS_THRESH: 0.01
            NMS_PRE_MAXSIZE: 4096
            NMS_POST_MAXSIZE: 500


OPTIMIZATION:
    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