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Commit 43baf787 authored by Shaoshuai Shi's avatar Shaoshuai Shi
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Merge branch 'dev_pointrcnn' into dev_v0.2.1

parents 85ff046d 8075b170
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setup.py
View file @ 43baf787
......@@ -67,6 +67,14 @@ if __name__ == '__main__':
'src/roiaware_pool3d_kernel.cu',
]
),
make_cuda_ext(
name='roipoint_pool3d_cuda',
module='pcdet.ops.roipoint_pool3d',
sources=[
'src/roipoint_pool3d.cpp',
'src/roipoint_pool3d_kernel.cu',
]
),
make_cuda_ext(
name='pointnet2_stack_cuda',
module='pcdet.ops.pointnet2.pointnet2_stack',
......@@ -78,6 +86,24 @@ if __name__ == '__main__':
'src/group_points_gpu.cu',
'src/sampling.cpp',
'src/sampling_gpu.cu',
'src/interpolate.cpp',
'src/interpolate_gpu.cu',
],
),
make_cuda_ext(
name='pointnet2_batch_cuda',
module='pcdet.ops.pointnet2.pointnet2_batch',
sources=[
'src/pointnet2_api.cpp',
'src/ball_query.cpp',
'src/ball_query_gpu.cu',
'src/group_points.cpp',
'src/group_points_gpu.cu',
'src/interpolate.cpp',
'src/interpolate_gpu.cu',
'src/sampling.cpp',
'src/sampling_gpu.cu',
],
),
],
......
tools/cfgs/kitti_models/PartA2_free.yaml 0 → 100644
View file @ 43baf787
CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
MODEL:
NAME: PointRCNN
VFE:
NAME: MeanVFE
BACKBONE_3D:
NAME: UNetV2
RETURN_ENCODED_TENSOR: False
POINT_HEAD:
NAME: PointIntraPartOffsetHead
CLS_FC: [128, 128]
PART_FC: [128, 128]
REG_FC: [128, 128]
CLASS_AGNOSTIC: False
USE_POINT_FEATURES_BEFORE_FUSION: False
TARGET_CONFIG:
GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
BOX_CODER: PointResidualCoder
BOX_CODER_CONFIG: {
'use_mean_size': True,
'mean_size': [
[3.9, 1.6, 1.56],
[0.8, 0.6, 1.73],
[1.76, 0.6, 1.73]
]
}
LOSS_CONFIG:
LOSS_REG: WeightedSmoothL1Loss
LOSS_WEIGHTS: {
'point_cls_weight': 1.0,
'point_box_weight': 1.0,
'point_part_weight': 1.0,
'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
}
ROI_HEAD:
NAME: PartA2FCHead
CLASS_AGNOSTIC: True
SHARED_FC: [256, 256, 256]
CLS_FC: [256, 256]
REG_FC: [256, 256]
DP_RATIO: 0.3
DISABLE_PART: True
SEG_MASK_SCORE_THRESH: 0.0
NMS_CONFIG:
TRAIN:
NMS_TYPE: nms_gpu
MULTI_CLASSES_NMS: False
NMS_PRE_MAXSIZE: 9000
NMS_POST_MAXSIZE: 512
NMS_THRESH: 0.8
TEST:
NMS_TYPE: nms_gpu
MULTI_CLASSES_NMS: False
NMS_PRE_MAXSIZE: 9000
NMS_POST_MAXSIZE: 100
NMS_THRESH: 0.85
ROI_AWARE_POOL:
POOL_SIZE: 12
NUM_FEATURES: 128
MAX_POINTS_PER_VOXEL: 128
TARGET_CONFIG:
BOX_CODER: ResidualCoder
ROI_PER_IMAGE: 128
FG_RATIO: 0.5
SAMPLE_ROI_BY_EACH_CLASS: True
CLS_SCORE_TYPE: roi_iou
CLS_FG_THRESH: 0.75
CLS_BG_THRESH: 0.25
CLS_BG_THRESH_LO: 0.1
HARD_BG_RATIO: 0.8
REG_FG_THRESH: 0.65
LOSS_CONFIG:
CLS_LOSS: BinaryCrossEntropy
REG_LOSS: smooth-l1
CORNER_LOSS_REGULARIZATION: True
LOSS_WEIGHTS: {
'rcnn_cls_weight': 1.0,
'rcnn_reg_weight': 1.0,
'rcnn_corner_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: kitti
NMS_CONFIG:
MULTI_CLASSES_NMS: False
NMS_TYPE: nms_gpu
NMS_THRESH: 0.1
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
tools/cfgs/kitti_models/pointrcnn.yaml 0 → 100644
View file @ 43baf787
CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: sample_points
NUM_POINTS: {
'train': 16384,
'test': 16384
}
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': False
}
MODEL:
NAME: PointRCNN
BACKBONE_3D:
NAME: PointNet2MSG
SA_CONFIG:
NPOINTS: [4096, 1024, 256, 64]
RADIUS: [[0.1, 0.5], [0.5, 1.0], [1.0, 2.0], [2.0, 4.0]]
NSAMPLE: [[16, 32], [16, 32], [16, 32], [16, 32]]
MLPS: [[[16, 16, 32], [32, 32, 64]],
[[64, 64, 128], [64, 96, 128]],
[[128, 196, 256], [128, 196, 256]],
[[256, 256, 512], [256, 384, 512]]]
FP_MLPS: [[128, 128], [256, 256], [512, 512], [512, 512]]
POINT_HEAD:
NAME: PointHeadBox
CLS_FC: [256, 256]
REG_FC: [256, 256]
CLASS_AGNOSTIC: False
USE_POINT_FEATURES_BEFORE_FUSION: False
TARGET_CONFIG:
GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
BOX_CODER: PointResidualCoder
BOX_CODER_CONFIG: {
'use_mean_size': True,
'mean_size': [
[3.9, 1.6, 1.56],
[0.8, 0.6, 1.73],
[1.76, 0.6, 1.73]
]
}
LOSS_CONFIG:
LOSS_REG: WeightedSmoothL1Loss
LOSS_WEIGHTS: {
'point_cls_weight': 1.0,
'point_box_weight': 1.0,
'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
}
ROI_HEAD:
NAME: PointRCNNHead
CLASS_AGNOSTIC: True
ROI_POINT_POOL:
POOL_EXTRA_WIDTH: [0.0, 0.0, 0.0]
NUM_SAMPLED_POINTS: 512
DEPTH_NORMALIZER: 70.0
XYZ_UP_LAYER: [128, 128]
CLS_FC: [256, 256]
REG_FC: [256, 256]
DP_RATIO: 0.0
USE_BN: False
SA_CONFIG:
NPOINTS: [128, 32, -1]
RADIUS: [0.2, 0.4, 100]
NSAMPLE: [16, 16, 16]
MLPS: [[128, 128, 128],
[128, 128, 256],
[256, 256, 512]]
NMS_CONFIG:
TRAIN:
NMS_TYPE: nms_gpu
MULTI_CLASSES_NMS: False
NMS_PRE_MAXSIZE: 9000
NMS_POST_MAXSIZE: 512
NMS_THRESH: 0.8
TEST:
NMS_TYPE: nms_gpu
MULTI_CLASSES_NMS: False
NMS_PRE_MAXSIZE: 9000
NMS_POST_MAXSIZE: 100
NMS_THRESH: 0.85
TARGET_CONFIG:
BOX_CODER: ResidualCoder
ROI_PER_IMAGE: 128
FG_RATIO: 0.5
SAMPLE_ROI_BY_EACH_CLASS: True
CLS_SCORE_TYPE: cls
CLS_FG_THRESH: 0.6
CLS_BG_THRESH: 0.45
CLS_BG_THRESH_LO: 0.1
HARD_BG_RATIO: 0.8
REG_FG_THRESH: 0.55
LOSS_CONFIG:
CLS_LOSS: BinaryCrossEntropy
REG_LOSS: smooth-l1
CORNER_LOSS_REGULARIZATION: True
LOSS_WEIGHTS: {
'rcnn_cls_weight': 1.0,
'rcnn_reg_weight': 1.0,
'rcnn_corner_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: kitti
NMS_CONFIG:
MULTI_CLASSES_NMS: False
NMS_TYPE: nms_gpu
NMS_THRESH: 0.1
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
OPTIMIZER: adam_onecycle
LR: 0.01
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
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