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uda_IA-SSD.yaml
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uda_IA-SSD.yaml
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CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset_da.yaml
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': False
}
- NAME: sample_points_by_voxels # after the shuffle_points
SAMPLE_TYPE: 'raw' # 'mean_vfe', 'raw' (default)
VOXEL_SIZE: [0.1, 0.1, 0.15]
MAX_POINTS_PER_VOXEL: 5
PTS_NEAR_FLAG: 40
MAX_NUMBER_OF_VOXELS: {
'train': 80000,
'test': 90000
}
NUM_POINTS: {
'train': 65536,
'test': 65536
}
MODEL:
NAME: IASSD
BACKBONE_3D:
NAME: IASSD_Backbone
SA_CONFIG:
# Sampling setting:
NPOINT_LIST: [[16384], [4096], [2048], [1024], [-1], [1024]]
SAMPLE_RANGE_LIST: [[-1], [-1], [-1], [-1], [-1], [-1]]
SAMPLE_METHOD_LIST: &sample_method_list [['D-FPS'], ['D-FPS'], ['ctr_aware'], ['ctr_aware'], [], []]
# Group and Abstraction setting:
RADIUS_LIST: [[0.2,0.8], [0.8,1.6], [1.6,4.8], [], [], [4.8, 6.4]]
NSAMPLE_LIST: [[16,32], [16,32], [16,32], [], [], [16, 32]]
MLPS: [[[16,16,32], [32,32,64]],
[[64,64,128], [64,96,128]],
[[128,128,256], [128,256,256]],
[],
[128],
[[256,256,512], [256,512,1024]]]
LAYER_TYPE: ['SA_Layer', 'SA_Layer', 'SA_Layer', 'SA_Layer', 'Vote_Layer', 'SA_Layer']
DILATED_GROUP: [False, False, False, False, False, False]
AGGREGATION_MLPS: [[64], [128], [256], [256], [], [512]]
# Instance-aware setting:
CONFIDENCE_MLPS: [[], [128], [256], [], [], []]
LAYER_INPUT: [0, 1, 2, 3, 4, 3]
CTR_INDEX: [-1, -1, -1, -1, -1, 5]
MAX_TRANSLATE_RANGE: [3.0, 3.0, 2.0]
# SAVE_SAMPLE_LIST: True
POINT_HEAD:
NAME: IASSD_Head
CLS_FC: [256, 256]
REG_FC: [256, 256]
CLASS_AGNOSTIC: False
USE_POINT_FEATURES_BEFORE_FUSION: False
TARGET_CONFIG:
INS_AWARE_ASSIGN: True
GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
ASSIGN_METHOD:
NAME: 'extend_gt'
ASSIGN_TYPE: 'centers_origin' #'centers'(default) , 'centers_origin'
EXTRA_WIDTH: [1.0, 1.0, 1.0]
FG_PC_IGNORE: False
BOX_CODER: PointResidual_BinOri_Coder # 'PointBinResidualCoder', 'PointResidual_BinOri_Coder'
BOX_CODER_CONFIG: {
'angle_bin_num': 12,
'use_mean_size': True,
'mean_size': [
[4.7, 2.1, 1.7],
[0.91, 0.86, 1.73],
[1.78, 0.84, 1.78]
]
}
LOSS_CONFIG:
# Ref: 'WeightedBinaryCrossEntropy', 'WeightedCrossEntropy', 'FocalLoss'
LOSS_CLS: WeightedCrossEntropy
LOSS_REG: WeightedSmoothL1Loss
LOSS_INS: WeightedCrossEntropy
SAMPLE_METHOD_LIST: *sample_method_list
LOSS_VOTE_TYPE: 'none' #'none', 'ver1', 'ver2',
CORNER_LOSS_REGULARIZATION: True
CENTERNESS_REGULARIZATION: True
CENTERNESS_REGULARIZATION_SA: True
LOSS_WEIGHTS: {
'ins_aware_weight': [0, 1.0, 1.0],
'vote_weight': 1.0,
'point_cls_weight': 1.0,
'point_box_weight': 1.0,
'corner_weight': 1.0,
'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
'dir_weight': 0.2
}
POST_PROCESSING:
RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
SCORE_THRESH: 0.1
OUTPUT_RAW_SCORE: False
EVAL_METRIC: waymo
NMS_CONFIG:
MULTI_CLASSES_NMS: False
NMS_TYPE: nms_gpu
NMS_THRESH: 0.1
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 2 # 8
NUM_EPOCHS: 30
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