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pvrcnn_post_SN_feat_3.yaml
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CLASS_NAMES: ['car']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes/DA/da_nuscenes_dataset.yaml
MAX_SWEEPS: 1
PRED_VELOCITY: False
BALANCED_RESAMPLING: False
SHIFT_COOR: [0.0, 0.0, 1.8]
DATA_CONFIG_TAR:
_BASE_CONFIG_: cfgs/dataset_configs/kitti/DA/da_kitti_dataset.yaml
TARGET: True
FOV_POINTS_ONLY: True
USE_PSEUDO_LABEL: True
CLASS_NAMES: ['Car']
SHIFT_COOR: [0.0, 0.0, 1.6]
DATA_AUGMENTOR:
DISABLE_AUG_LIST: [ 'placeholder' ] # Although the target domain uses the random_object_scaling data augmentation, the method is only used for PSEUDO-LABELED DATA
AUG_CONFIG_LIST:
- NAME: normalize_object_size
SIZE_RES: [ -0.71, -0.31, -0.2 ]
- NAME: random_object_rotation
ROT_PROB: 0.8
ROT_UNIFORM_NOISE: [ -0.38539816, 0.38539816 ]
- NAME: random_world_flip
ALONG_AXIS_LIST: [ 'x', 'y' ]
- NAME: random_world_rotation
WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
- NAME: random_world_scaling
WORLD_SCALE_RANGE: [ 0.97, 1.03 ]
MODEL:
NAME: PVRCNN
VFE:
NAME: MeanVFE
BACKBONE_3D:
NAME: VoxelBackBone8x
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: 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': [[4.2, 2.0, 1.6]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0],
'align_center': False,
'feature_map_stride': 8,
'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]
}
PFE:
NAME: VoxelSetAbstraction
POINT_SOURCE: raw_points
NUM_KEYPOINTS: 4096
NUM_OUTPUT_FEATURES: 128
SAMPLE_METHOD: FPS
FEATURES_SOURCE: ['bev', 'x_conv3', 'x_conv4', 'raw_points']
SA_LAYER:
raw_points:
MLPS: [[16, 16], [16, 16]]
POOL_RADIUS: [0.4, 0.8]
NSAMPLE: [16, 16]
x_conv1:
DOWNSAMPLE_FACTOR: 1
MLPS: [[16, 16], [16, 16]]
POOL_RADIUS: [0.4, 0.8]
NSAMPLE: [16, 16]
x_conv2:
DOWNSAMPLE_FACTOR: 2
MLPS: [[32, 32], [32, 32]]
POOL_RADIUS: [0.8, 1.2]
NSAMPLE: [16, 32]
x_conv3:
DOWNSAMPLE_FACTOR: 4
MLPS: [[64, 64], [64, 64]]
POOL_RADIUS: [1.2, 2.4]
NSAMPLE: [16, 32]
x_conv4:
DOWNSAMPLE_FACTOR: 8
MLPS: [[64, 64], [64, 64]]
POOL_RADIUS: [2.4, 4.8]
NSAMPLE: [16, 32]
POINT_HEAD:
NAME: PointHeadSimple
CLS_FC: [256, 256]
CLASS_AGNOSTIC: True
USE_POINT_FEATURES_BEFORE_FUSION: True
TARGET_CONFIG:
GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
LOSS_CONFIG:
LOSS_REG: smooth-l1
LOSS_WEIGHTS: {
'point_cls_weight': 1.0,
}
ROI_HEAD:
NAME: PVRCNNHead
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
ROI_GRID_POOL:
GRID_SIZE: 6
MLPS: [[64, 64], [64, 64]]
POOL_RADIUS: [0.8, 1.6]
NSAMPLE: [16, 16]
POOL_METHOD: max_pool
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
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: 0.1
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:
BATCH_SIZE_PER_GPU: 4
NUM_EPOCHS: 10
OPTIMIZER: adam_onecycle
LR: 0.0015
WEIGHT_DECAY: 0.001
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, 1] # [0]
UPDATE_PSEUDO_LABEL_INTERVAL: 5 # 4
INIT_PS: None
PROG_AUG:
ENABLED: True
UPDATE_AUG: [1, 5, 10, 15] # [5, 10, 20, 25]
SCALE: 1.1
D_CFG:
DISABLE_AUG_LIST: [ 'placeholder' ]
AUG_CONFIG_LIST:
- NAME: random_object_rotation
ROT_PROB: 0.8
ROT_UNIFORM_NOISE: [ -0.38539816, 0.38539816 ]
- NAME: random_world_flip
ALONG_AXIS_LIST: [ 'x', 'y' ]
- NAME: random_world_rotation
WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
- NAME: random_world_scaling
WORLD_SCALE_RANGE: [ 0.97, 1.03 ]
MEMORY_ENSEMBLE:
ENABLED: False
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: False
IGNORE_THRESH: 2
RM_THRESH: 3