Skip to content

GitLab

Commit c7f6de36 authored by Shaoshuai Shi's avatar Shaoshuai Shi
Browse files

add second_multihead.yaml config for nuscenes

parent 505468d1
Show whitespace changes
Inline Side-by-side
Showing with 272 additions and 12 deletions
pcdet/datasets/nuscenes/nuscenes_dataset.py
View file @ c7f6de36
......@@ -2,6 +2,7 @@ import pickle
import copy
import numpy as np
from tqdm import tqdm
from pathlib import Path
from ...utils import common_utils
from ..dataset import DatasetTemplate
from ...ops.roiaware_pool3d import roiaware_pool3d_utils
......
tools/cfgs/nuscenes_models/second.yaml
View file @ c7f6de36
......@@ -38,84 +38,104 @@ MODEL:
ANCHOR_GENERATOR_CONFIG: [
{
'class_name': car,
'anchor_sizes': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'class_name': car
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'class_name': truck
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'class_name': construction_vehicle
'matched_threshold': 0.55,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'class_name': bus
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'class_name': trailer
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'class_name': barrier
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'class_name': motorcycle
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'class_name': bicycle
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'class_name': pedestrian
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'class_name': traffic_cone
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
......@@ -123,8 +143,6 @@ MODEL:
NAME: AxisAlignedTargetAssigner
POS_FRACTION: -1.0
SAMPLE_SIZE: 512
MATCHED_THRESHOLDS: [0.6, 0.55, 0.5, 0.55, 0.5, 0.55, 0.5, 0.5, 0.6, 0.6]
UNMATCHED_THRESHOLDS: [0.45, 0.4, 0.35, 0.4, 0.35, 0.4, 0.3, 0.35, 0.4, 0.4]
NORM_BY_NUM_EXAMPLES: False
MATCH_HEIGHT: False
BOX_CODER: ResidualCoder
......
tools/cfgs/nuscenes_models/second_multihead.yaml 0 → 100644
View file @ c7f6de36
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml
MODEL:
NAME: SECONDNet
VFE:
NAME: MeanVFE
BACKBONE_3D:
NAME: VoxelBackBone8x
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: AnchorHeadMulti
CLASS_AGNOSTIC: False
USE_DIRECTION_CLASSIFIER: True
DIR_OFFSET: 0.78539
DIR_LIMIT_OFFSET: 0.0
NUM_DIR_BINS: 2
USE_MULTI_HEAD: True
ANCHOR_GENERATOR_CONFIG: [
{
'class_name': car,
'anchor_sizes': [[4.63, 1.97, 1.74]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.95],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': truck,
'anchor_sizes': [[6.93, 2.51, 2.84]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': construction_vehicle,
'anchor_sizes': [[6.37, 2.85, 3.19]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.225],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.35
},
{
'class_name': bus,
'anchor_sizes': [[10.5, 2.94, 3.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': trailer,
'anchor_sizes': [[12.29, 2.90, 3.87]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0.115],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': barrier,
'anchor_sizes': [[0.50, 2.53, 0.98]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.33],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.55,
'unmatched_threshold': 0.4
},
{
'class_name': motorcycle,
'anchor_sizes': [[2.11, 0.77, 1.47]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.085],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.3
},
{
'class_name': bicycle,
'anchor_sizes': [[1.70, 0.60, 1.28]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.18],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': pedestrian,
'anchor_sizes': [[0.73, 0.67, 1.77]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.935],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
{
'class_name': traffic_cone,
'anchor_sizes': [[0.41, 0.41, 1.07]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.285],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.4
},
]
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['barrier'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
'LAYER_NUMS': [0],
'LAYER_STRIDES': [1],
'NUM_FILTERS': [512],
'UPSAMPLE_STRIDES': [1],
'NUM_UPSAMPLE_FILTERS': [512]
},
]
TARGET_ASSIGNER_CONFIG:
NAME: AxisAlignedTargetAssigner
POS_FRACTION: -1.0
SAMPLE_SIZE: 512
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
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment