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Add support for CenterPoint on Nuscenes (#786)
* add cbgs_dyn_pp_centerpoint.yaml * add cbgs_voxel01_res3d_centerpoint.yaml * add support of centerpoint on Nuscenes in README
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117 changes: 117 additions & 0 deletions
117
tools/cfgs/nuscenes_models/cbgs_dyn_pp_centerpoint.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,117 @@ | ||
| CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer', | ||
| 'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'] | ||
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| DATA_CONFIG: | ||
| _BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml | ||
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| POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0] | ||
| DATA_PROCESSOR: | ||
| - NAME: mask_points_and_boxes_outside_range | ||
| REMOVE_OUTSIDE_BOXES: True | ||
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| - NAME: shuffle_points | ||
| SHUFFLE_ENABLED: { | ||
| 'train': True, | ||
| 'test': True | ||
| } | ||
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| - NAME: transform_points_to_voxels_placeholder | ||
| VOXEL_SIZE: [0.2, 0.2, 8.0] | ||
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| MODEL: | ||
| NAME: CenterPoint | ||
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| VFE: | ||
| NAME: DynPillarVFE | ||
| WITH_DISTANCE: False | ||
| USE_ABSLOTE_XYZ: True | ||
| USE_NORM: True | ||
| NUM_FILTERS: [ 64, 64 ] | ||
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| MAP_TO_BEV: | ||
| NAME: PointPillarScatter | ||
| NUM_BEV_FEATURES: 64 | ||
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| BACKBONE_2D: | ||
| NAME: BaseBEVBackbone | ||
| LAYER_NUMS: [3, 5, 5] | ||
| LAYER_STRIDES: [2, 2, 2] | ||
| NUM_FILTERS: [64, 128, 256] | ||
| UPSAMPLE_STRIDES: [0.5, 1, 2] | ||
| NUM_UPSAMPLE_FILTERS: [128, 128, 128] | ||
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| DENSE_HEAD: | ||
| NAME: CenterHead | ||
| CLASS_AGNOSTIC: False | ||
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| CLASS_NAMES_EACH_HEAD: [ | ||
| ['car'], | ||
| ['truck', 'construction_vehicle'], | ||
| ['bus', 'trailer'], | ||
| ['barrier'], | ||
| ['motorcycle', 'bicycle'], | ||
| ['pedestrian', 'traffic_cone'], | ||
| ] | ||
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| SHARED_CONV_CHANNEL: 64 | ||
| USE_BIAS_BEFORE_NORM: True | ||
| NUM_HM_CONV: 2 | ||
| SEPARATE_HEAD_CFG: | ||
| HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel'] | ||
| HEAD_DICT: { | ||
| 'center': {'out_channels': 2, 'num_conv': 2}, | ||
| 'center_z': {'out_channels': 1, 'num_conv': 2}, | ||
| 'dim': {'out_channels': 3, 'num_conv': 2}, | ||
| 'rot': {'out_channels': 2, 'num_conv': 2}, | ||
| 'vel': {'out_channels': 2, 'num_conv': 2}, | ||
| } | ||
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| TARGET_ASSIGNER_CONFIG: | ||
| FEATURE_MAP_STRIDE: 4 | ||
| NUM_MAX_OBJS: 500 | ||
| GAUSSIAN_OVERLAP: 0.1 | ||
| MIN_RADIUS: 2 | ||
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| LOSS_CONFIG: | ||
| LOSS_WEIGHTS: { | ||
| 'cls_weight': 1.0, | ||
| 'loc_weight': 0.25, | ||
| 'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0] | ||
| } | ||
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| POST_PROCESSING: | ||
| SCORE_THRESH: 0.1 | ||
| POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] | ||
| MAX_OBJ_PER_SAMPLE: 500 | ||
| NMS_CONFIG: | ||
| NMS_TYPE: nms_gpu | ||
| NMS_THRESH: 0.2 | ||
| NMS_PRE_MAXSIZE: 1000 | ||
| NMS_POST_MAXSIZE: 83 | ||
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| POST_PROCESSING: | ||
| RECALL_THRESH_LIST: [0.3, 0.5, 0.7] | ||
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| EVAL_METRIC: kitti | ||
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| OPTIMIZATION: | ||
| BATCH_SIZE_PER_GPU: 4 | ||
| NUM_EPOCHS: 20 | ||
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| OPTIMIZER: adam_onecycle | ||
| LR: 0.001 | ||
| WEIGHT_DECAY: 0.01 | ||
| MOMENTUM: 0.9 | ||
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| 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 | ||
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| LR_WARMUP: False | ||
| WARMUP_EPOCH: 1 | ||
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| GRAD_NORM_CLIP: 10 |
104 changes: 104 additions & 0 deletions
104
tools/cfgs/nuscenes_models/cbgs_voxel01_res3d_centerpoint.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,104 @@ | ||
| CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer', | ||
| 'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'] | ||
|
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| DATA_CONFIG: | ||
| _BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml | ||
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| MODEL: | ||
| NAME: CenterPoint | ||
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| VFE: | ||
| NAME: MeanVFE | ||
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| BACKBONE_3D: | ||
| NAME: VoxelResBackBone8x | ||
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| MAP_TO_BEV: | ||
| NAME: HeightCompression | ||
| NUM_BEV_FEATURES: 256 | ||
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| BACKBONE_2D: | ||
| NAME: BaseBEVBackbone | ||
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| LAYER_NUMS: [5, 5] | ||
| LAYER_STRIDES: [1, 2] | ||
| NUM_FILTERS: [128, 256] | ||
| UPSAMPLE_STRIDES: [1, 2] | ||
| NUM_UPSAMPLE_FILTERS: [256, 256] | ||
|
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| DENSE_HEAD: | ||
| NAME: CenterHead | ||
| CLASS_AGNOSTIC: False | ||
|
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| CLASS_NAMES_EACH_HEAD: [ | ||
| ['car'], | ||
| ['truck', 'construction_vehicle'], | ||
| ['bus', 'trailer'], | ||
| ['barrier'], | ||
| ['motorcycle', 'bicycle'], | ||
| ['pedestrian', 'traffic_cone'], | ||
| ] | ||
|
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| SHARED_CONV_CHANNEL: 64 | ||
| USE_BIAS_BEFORE_NORM: True | ||
| NUM_HM_CONV: 2 | ||
| SEPARATE_HEAD_CFG: | ||
| HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel'] | ||
| HEAD_DICT: { | ||
| 'center': {'out_channels': 2, 'num_conv': 2}, | ||
| 'center_z': {'out_channels': 1, 'num_conv': 2}, | ||
| 'dim': {'out_channels': 3, 'num_conv': 2}, | ||
| 'rot': {'out_channels': 2, 'num_conv': 2}, | ||
| 'vel': {'out_channels': 2, 'num_conv': 2}, | ||
| } | ||
|
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| TARGET_ASSIGNER_CONFIG: | ||
| FEATURE_MAP_STRIDE: 8 | ||
| NUM_MAX_OBJS: 500 | ||
| GAUSSIAN_OVERLAP: 0.1 | ||
| MIN_RADIUS: 2 | ||
|
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| LOSS_CONFIG: | ||
| LOSS_WEIGHTS: { | ||
| 'cls_weight': 1.0, | ||
| 'loc_weight': 0.25, | ||
| 'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0] | ||
| } | ||
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| POST_PROCESSING: | ||
| SCORE_THRESH: 0.1 | ||
| POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] | ||
| MAX_OBJ_PER_SAMPLE: 500 | ||
| NMS_CONFIG: | ||
| NMS_TYPE: nms_gpu | ||
| NMS_THRESH: 0.2 | ||
| NMS_PRE_MAXSIZE: 1000 | ||
| NMS_POST_MAXSIZE: 83 | ||
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| POST_PROCESSING: | ||
| RECALL_THRESH_LIST: [0.3, 0.5, 0.7] | ||
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| EVAL_METRIC: kitti | ||
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|
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| OPTIMIZATION: | ||
| BATCH_SIZE_PER_GPU: 4 | ||
| NUM_EPOCHS: 30 | ||
|
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| OPTIMIZER: adam_onecycle | ||
| LR: 0.003 | ||
| WEIGHT_DECAY: 0.01 | ||
| MOMENTUM: 0.9 | ||
|
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| 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 | ||
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| LR_WARMUP: False | ||
| WARMUP_EPOCH: 1 | ||
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| GRAD_NORM_CLIP: 10 |