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Commit f70902b8 authored by Shaoshuai Shi's avatar Shaoshuai Shi
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add config cbgs_1conv_sepreg_dir.yaml

parent eaa36cef
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Showing with 234 additions and 6 deletions
pcdet/models/dense_heads/anchor_head_multi.py
View file @ f70902b8
...@@ -324,8 +324,9 @@ class AnchorHeadMulti(AnchorHeadTemplate): ...@@ -324,8 +324,9 @@ class AnchorHeadMulti(AnchorHeadTemplate):
if isinstance(self.anchors, list): if isinstance(self.anchors, list):
if self.use_multihead: if self.use_multihead:
anchors = torch.cat( anchors = torch.cat(
[anchor.permute(3, 4, 0, 1, 2, 5).contiguous().view(-1, anchor.shape[-1]) for anchor in [anchor.permute(3, 4, 0, 1, 2, 5).contiguous().view(-1, anchor.shape[-1])
self.anchors], dim=0) for anchor in self.anchors], dim=0
)
else: else:
anchors = torch.cat(self.anchors, dim=-3) anchors = torch.cat(self.anchors, dim=-3)
else: else:
...@@ -336,9 +337,10 @@ class AnchorHeadMulti(AnchorHeadTemplate): ...@@ -336,9 +337,10 @@ class AnchorHeadMulti(AnchorHeadTemplate):
box_losses = 0 box_losses = 0
tb_dict = {} tb_dict = {}
for idx, box_pred in enumerate(box_preds): for idx, box_pred in enumerate(box_preds):
box_pred = box_pred.view(batch_size, -1, box_pred = box_pred.view(
box_pred.shape[-1] // self.num_anchors_per_location if not self.use_multihead else batch_size, -1,
box_pred.shape[-1]) box_pred.shape[-1] // self.num_anchors_per_location if not self.use_multihead else box_pred.shape[-1]
)
box_reg_target = box_reg_targets[:, start_idx:start_idx + box_pred.shape[1]] box_reg_target = box_reg_targets[:, start_idx:start_idx + box_pred.shape[1]]
reg_weight = reg_weights[:, start_idx:start_idx + box_pred.shape[1]] reg_weight = reg_weights[:, start_idx:start_idx + box_pred.shape[1]]
# sin(a - b) = sinacosb-cosasinb # sin(a - b) = sinacosb-cosasinb
...@@ -351,7 +353,7 @@ class AnchorHeadMulti(AnchorHeadTemplate): ...@@ -351,7 +353,7 @@ class AnchorHeadMulti(AnchorHeadTemplate):
loc_loss = loc_loss * self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS['loc_weight'] loc_loss = loc_loss * self.model_cfg.LOSS_CONFIG.LOSS_WEIGHTS['loc_weight']
box_losses += loc_loss box_losses += loc_loss
tb_dict['rpn_loss_loc'] = tb_dict.get('rpn_loss_loc', 0) + loc_loss tb_dict['rpn_loss_loc'] = tb_dict.get('rpn_loss_loc', 0) + loc_loss.item()
if box_dir_cls_preds is not None: if box_dir_cls_preds is not None:
if not isinstance(box_dir_cls_preds, list): if not isinstance(box_dir_cls_preds, list):
......
tools/cfgs/nuscenes_models/cbgs_1conv_sepreg_dir.yaml 0 → 100644
View file @ f70902b8
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: VoxelResBackBone8x
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_MULTIHEAD: True
SEPARATE_MULTIHEAD: 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': 0.5,
'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
},
]
SHARED_CONV_NUM_FILTER: 64
RPN_HEAD_CFGS: [
{
'HEAD_CLS_NAME': ['car'],
},
{
'HEAD_CLS_NAME': ['truck', 'construction_vehicle'],
},
{
'HEAD_CLS_NAME': ['bus', 'trailer'],
},
{
'HEAD_CLS_NAME': ['barrier'],
},
{
'HEAD_CLS_NAME': ['motorcycle', 'bicycle'],
},
{
'HEAD_CLS_NAME': ['pedestrian', 'traffic_cone'],
},
]
SEPARATE_REG_CONFIG:
NUM_MIDDLE_CONV: 1
NUM_MIDDLE_FILTER: 64
REG_LIST: ['reg:2', 'height:1', 'size:3', 'angle:1', 'velo:2']
TARGET_ASSIGNER_CONFIG:
NAME: AxisAlignedTargetAssigner
POS_FRACTION: -1.0
SAMPLE_SIZE: 512
NORM_BY_NUM_EXAMPLES: False
MATCH_HEIGHT: False
BOX_CODER: ResidualCoder
BOX_CODER_CONFIG: {
'code_size': 9,
'encode_angle_by_sincos': False
}
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,
'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2]
}
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: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 100
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
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