set pos_cls_weight=1.0, neg_cls_weight=2.0 for NuScenes configs

pcdet/models/dense_heads/anchor_head_multi.py

@@ -181,6 +181,13 @@ class AnchorHeadMulti(AnchorHeadTemplate):
         return data_dict
 
     def get_cls_layer_loss(self):
+        loss_weights = self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS
+        if 'pos_cls_weight' in loss_weights:
+            pos_cls_weight = loss_weights['pos_cls_weight']
+            neg_cls_weight = loss_weights['neg_cls_weight']
+        else:
+            pos_cls_weight = neg_cls_weight = 1.0
+
         cls_preds = self.forward_ret_dict['cls_preds']
         box_cls_labels = self.forward_ret_dict['box_cls_labels']
         if not isinstance(cls_preds, list):
@@ -189,8 +196,10 @@ class AnchorHeadMulti(AnchorHeadTemplate):
         cared = box_cls_labels >= 0  # [N, num_anchors]
         positives = box_cls_labels > 0
         negatives = box_cls_labels == 0
-        negative_cls_weights = negatives * 1.0
-        cls_weights = (negative_cls_weights + 1.0 * positives).float()
+        negative_cls_weights = negatives * 1.0 * neg_cls_weight
+
+        cls_weights = (negative_cls_weights + pos_cls_weight * positives).float()
+
         reg_weights = positives.float()
         if self.num_class == 1:
             # class agnostic
@@ -220,7 +229,7 @@ class AnchorHeadMulti(AnchorHeadTemplate):
             cls_weight = cls_weights[:, start_idx:start_idx + cls_pred.shape[1]]
             cls_loss_src = self.cls_loss_func(cls_pred, one_hot_target, weights=cls_weight)  # [N, M]
             cls_loss = cls_loss_src.sum() / batch_size
-            cls_loss = cls_loss * self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS['cls_weight']
+            cls_loss = cls_loss * loss_weights['cls_weight']
             cls_losses += cls_loss
             start_idx += cls_pred.shape[1]
         assert start_idx == one_hot_targets.shape[1]

tools/cfgs/nuscenes_models/cbgs.yaml

@@ -196,6 +196,8 @@ MODEL:
         LOSS_CONFIG:
             REG_LOSS_TYPE: WeightedL1Loss
             LOSS_WEIGHTS: {
+                'pos_cls_weight': 1.0,
+                'neg_cls_weight': 2.0,
                 'cls_weight': 1.0,
                 'loc_weight': 0.25,
                 'dir_weight': 0.2,

tools/cfgs/nuscenes_models/cbgs_1conv.yaml

@@ -196,6 +196,8 @@ MODEL:
         LOSS_CONFIG:
             REG_LOSS_TYPE: WeightedL1Loss
             LOSS_WEIGHTS: {
+                'pos_cls_weight': 1.0,
+                'neg_cls_weight': 2.0,
                 'cls_weight': 1.0,
                 'loc_weight': 0.25,
                 'dir_weight': 0.2,

tools/cfgs/nuscenes_models/pp_multihead.yaml

@@ -214,6 +214,8 @@ MODEL:
         LOSS_CONFIG:
             REG_LOSS_TYPE: WeightedL1Loss
             LOSS_WEIGHTS: {
+                'pos_cls_weight': 1.0,
+                'neg_cls_weight': 2.0,
                 'cls_weight': 1.0,
                 'loc_weight': 0.25,
                 'dir_weight': 0.2,

tools/cfgs/nuscenes_models/second.yaml

@@ -152,6 +152,8 @@ MODEL:
 
         LOSS_CONFIG:
             LOSS_WEIGHTS: {
+                'pos_cls_weight': 1.0,
+                'neg_cls_weight': 2.0,
                 'cls_weight': 1.0,
                 'loc_weight': 2.0,
                 'dir_weight': 0.2,

tools/cfgs/nuscenes_models/second_multihead.yaml

@@ -204,6 +204,8 @@ MODEL:
 
         LOSS_CONFIG:
             LOSS_WEIGHTS: {
+                'pos_cls_weight': 1.0,
+                'neg_cls_weight': 2.0,
                 'cls_weight': 1.0,
                 'loc_weight': 2.0,
                 'dir_weight': 0.2,