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LoGoNet-kitti.yaml
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CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/det_dataset_cfgs/kitti_dataset_mm.yaml
MODEL:
NAME: ANCHORMMKITTI
SECOND_STAGE: True
# remember to use "--pretrained_model" to load 1-stage checkpoint
# and use "--fix_pretrained_weights" to fix params
VFE:
NAME: MeanVFE
IMAGE_BACKBONE:
NAME: MMDETFPNKITTI
FREEZE_IMGBACKBONE: True
# IMGPRETRAINED_MODEL: '../output_s2/det_model_cfgs/pretrained_ckpt/swin_tiny_patch4_window7_224.pth'
IFN:
ARGS: {
"feat_extract_layer": ["layer1"],
}
CHANNEL_REDUCE: {
"in_channels": [256],
"out_channels": [64],
"kernel_size": [1],
"stride": [1],
"bias": [False]
}
IMGCONFIG: {
type: 'SwinTransformer',
embed_dim: 96,
depths: [2, 2, 6, 2],
num_heads: [3, 6, 12, 24],
window_size: 7,
mlp_ratio: 4,
qkv_bias: True,
qk_scale: None,
drop_rate: 0.,
attn_drop_rate: 0.,
drop_path_rate: 0.2,
ape: False,
patch_norm: True,
out_indices: [0, 1, 2, 3],
use_checkpoint: False,
}
FPNCONFIG: {
type: 'FPN',
in_channels: [96, 192, 384, 768],
out_channels: 256,
num_outs: 5
}
BACKBONE_3D:
NAME: Backbone3D
MAP_TO_BEV:
NAME: HeightCompression
NUM_BEV_FEATURES: 256
BACKBONE_2D:
NAME: Backbone2D
LAYER_NUMS: [5, 5]
LAYER_STRIDES: [1, 2]
NUM_FILTERS: [128, 256]
UPSAMPLE_STRIDES: [1, 2]
NUM_UPSAMPLE_FILTERS: [256, 256]
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: [
{
'class_name': 'Car',
'anchor_sizes': [[3.9, 1.6, 1.56]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-1.78],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
{
'class_name': 'Pedestrian',
'anchor_sizes': [[0.8, 0.6, 1.73]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
},
{
'class_name': 'Cyclist',
'anchor_sizes': [[1.76, 0.6, 1.73]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [-0.6],
'align_center': False,
'feature_map_stride': 8,
'matched_threshold': 0.5,
'unmatched_threshold': 0.35
}
]
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]
}
ROI_HEAD:
NAME: LoGoHeadKITTI
CLASS_AGNOSTIC: True
SHARED_FC: [256, 256]
CLS_FC: [256, 256]
REG_FC: [256, 256]
DP_RATIO: 0.3
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: 1024
NMS_POST_MAXSIZE: 100
NMS_THRESH: 0.7
VOXEL_AGGREGATION:
NUM_FEATURES: [64, 64]
FEATURE_LOCATIONS: [x_conv3, x_conv4]
ROI_GRID_POOL:
FEATURE_LOCATIONS: [x_conv3, x_conv4]
GRID_SIZE: 6
POOL_LAYERS:
x_conv3:
MLPS: [[32, 32], [32, 32]]
POOL_RADIUS: [0.4, 0.8]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
USE_DENSITY: True
x_conv4:
MLPS: [[32, 32], [32, 32]]
POOL_RADIUS: [0.8, 1.6]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
USE_DENSITY: True
FUSION:
NAME: VoxelWithPointProjectionV2KITTI
FUSE_MODE: 'crossattention_deform'
CAMERAS: ['camera_0', 'camera_1', 'camera_2', 'camera_3', 'camera_4']
IMAGE_SCALE: 0.5
INTERPOLATE: True
DEPTH_THRES: {'camera_0': 0, 'camera_1': 0, 'camera_2': 0, 'camera_3': 0, 'camera_4': 0}
LAYER_CHANNEL: {'layer1': 64}
MID_CHANNELS: 64
FUSE_OUT: True
ATTENTION:
ENABLED: True
NUM_FEATURES: 128
NUM_HEADS: 1
NUM_HIDDEN_FEATURES: 128
NUM_LAYERS: 1
POSITIONAL_ENCODER: density_grid_points
MAX_NUM_BOXES: 20
DROPOUT: 0.1
COMBINE: True
MASK_EMPTY_POINTS: True
DENSITYQUERY:
ENABLED: True
NUM_FEATURES: 128
NUM_HIDDEN_FEATURES: 128
POSITIONAL_ENCODER: density_grid_points
MAX_NUM_BOXES: 20
DROPOUT: 0.1
COMBINE: True
MASK_EMPTY_POINTS: True
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: 0.55
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: 0.3
OUTPUT_RAW_SCORE: False
EVAL_METRIC: kitti
NMS_CONFIG:
MULTI_CLASSES_NMS: False
NMS_TYPE: nms_gpu
NMS_THRESH: 0.55
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 2
NUM_EPOCHS: 80
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