dts.yaml

CLASS_NAMES: ['Vehicle']

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/da_waymo_nuscenes_dataset.yaml
    POINT_CLOUD_RANGE: [-74.24, -74.24, -2, 74.24, 74.24, 4]
    PROCESSED_DATA_TAG: 'waymo_processed_data'
    INFO_WITH_FAKELIDAR: False

    DATA_PROCESSOR:
      - NAME: mask_boxes_outside_length
        LENGTH_RANGE: [1.0, 10.0]

      - NAME: mask_points_and_boxes_outside_range
        REMOVE_OUTSIDE_BOXES: True

      - NAME: shuffle_points
        SHUFFLE_ENABLED: {
          'train': True,
          'test': True
        }

      - NAME: transform_points_to_voxels
        VOXEL_SIZE: [0.32, 0.32, 6]
        MAX_POINTS_PER_VOXEL: 20
        MAX_NUMBER_OF_VOXELS: {
          'train': 150000,
          'test': 150000
        }
    

DATA_CONFIG_TAR:
    _BASE_CONFIG_: cfgs/dataset_configs/da_kitti_dataset.yaml
    POINT_CLOUD_RANGE: [-74.24, -74.24, -2, 74.24, 74.24, 4]
    TARGET: True
    FOV_POINTS_ONLY: False
    USE_PSEUDO_LABEL: True
    CLASS_NAMES: ['Car']
    SHIFT_COOR: [0.0, 0.0, 1.6]
    DATA_PROCESSOR:
      - NAME: transform_points_to_voxels
        VOXEL_SIZE: [0.32, 0.32, 6]
        MAX_POINTS_PER_VOXEL: 20
        MAX_NUMBER_OF_VOXELS: {
          'train': 150000,
          'test': 150000
        }
    DATA_AUGMENTOR:
      DISABLE_AUG_LIST: ['random_object_scaling', 'random_object_rotation']
      AUG_CONFIG_LIST:
          - NAME: random_beam_downsample
            BEAM: 64
            BEAM_PROB: 0.75
            PHI_THRESHOLD: 0.03

          - NAME: random_object_scaling
            SCALE_UNIFORM_NOISE: [0.9, 1.1]

          - NAME: random_object_rotation
            ROT_PROB: 0.8
            ROT_UNIFORM_NOISE: [-0.78539816, 0.78539816]

          - NAME: random_world_flip
            ALONG_AXIS_LIST: ['x', 'y']

          - NAME: random_world_rotation
            WORLD_ROT_ANGLE: [-0.3925, 0.3925]

          - NAME: random_world_scaling
            WORLD_SCALE_RANGE: [0.95, 1.05]


MODEL:
    NAME: PointPillarMT

    EMA_MODEL_ALPHA: 0.999
    CONSISTENCY_LOSS: {
        'inter_graph_loss_weight': 0.3,
        'GLR_loss_weight': 0.4,
        'object_loss_weight': 0.05
    }
    INTER_GRAPH_THRESHOLD: 0.1

    VFE:
        NAME: PillarVFE
        WITH_DISTANCE: False
        USE_ABSLOTE_XYZ: True
        USE_NORM: True
        NUM_FILTERS: [64]

    MAP_TO_BEV:
        NAME: PointPillarScatter
        NUM_BEV_FEATURES: 64

    BACKBONE_2D:
        NAME: BaseBEVBackbone
        LAYER_NUMS: [3, 5, 5]
        LAYER_STRIDES: [2, 2, 2]
        NUM_FILTERS: [64, 128, 256]
        UPSAMPLE_STRIDES: [1, 2, 4]
        NUM_UPSAMPLE_FILTERS: [128, 128, 128]

    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': 'Vehicle',
                'anchor_sizes': [[4.7, 2.1, 1.7]],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [0],
                'align_center': False,
                'feature_map_stride': 2,
                'matched_threshold': 0.55,
                'unmatched_threshold': 0.4
            }
        ]

        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: PillarHeadMT
        CLASS_AGNOSTIC: True

        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
        
        ROI_GRID_POOL:
            DOWNSAMPLE_RATIO: 2

        TARGET_CONFIG:
            BOX_CODER: ResidualCoder
            ROI_PER_IMAGE: 128
            FG_RATIO: 0.5

            SAMPLE_ROI_BY_EACH_CLASS: True
            CLS_SCORE_TYPE: raw_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

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
        SCORE_THRESH: 0.2
        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:
    NUM_EPOCHS: 20
    BATCH_SIZE_PER_GPU: 4
    OPTIMIZER: adam_onecycle
    LR: 0.0015
    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

SELF_TRAIN:
    SRC:
        USE_DATA: False
        USE_GRAD: False
        LOSS_WEIGHT: 1.0
    TAR:
        USE_DATA: True
        LOSS_WEIGHT: 1.0

    SCORE_THRESH: [0.5]
    NEG_THRESH: [0.2]
    UPDATE_PSEUDO_LABEL: [0]
    UPDATE_PSEUDO_LABEL_INTERVAL: 3
    INIT_PS: None

    PROG_AUG:
        ENABLED: False #True
        UPDATE_AUG: [5, 10, 20, 25]
        SCALE: 1.1

    MEMORY_ENSEMBLE:
        ENABLED: True
        NAME: consistency_ensemble
        IOU_THRESH: 0.1

        NMS_CONFIG:
            NMS_TYPE: nms_gpu
            MULTI_CLASSES_NMS: False
            NMS_PRE_MAXSIZE: 512
            NMS_POST_MAXSIZE: 100
            NMS_THRESH: 0.1

        MEMORY_VOTING:
            ENABLED: True
            IGNORE_THRESH: 2
            RM_THRESH: 3