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voxel_rcnn_005voxel_kitti_car.yml
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batch_size: 2
epochs: 80
train_dataset:
type: KittiPCDataset
dataset_root: datasets/KITTI
transforms:
- type: LoadPointCloud
dim: 4
use_dim: 4
- type: RemoveCameraInvisiblePointsKITTIV2
- type: SamplingDatabase
min_num_points_in_box_per_class:
Car: 5
max_num_samples_per_class:
Car: 15
ignored_difficulty: [-1]
database_anno_path: datasets/KITTI/kitti_train_gt_database/anno_info_train.pkl
database_root: datasets/KITTI/
class_names: ["Car"]
- type: RandomVerticalFlip
- type: GlobalRotate
min_rot: -0.78539816
max_rot: 0.78539816
- type: GlobalScale
min_scale: 0.95
max_scale: 1.05
- type: ShufflePoint
- type: FilterPointOutsideRange
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
- type: FilterBBoxOutsideRange
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
- type: Gt2PVRCNNTarget
mode: train
class_balanced_sampling: False
class_names: ["Car"]
use_road_plane: True
val_dataset:
type: KittiPCDataset
dataset_root: datasets/KITTI
transforms:
- type: LoadPointCloud
dim: 4
use_dim: 4
- type: RemoveCameraInvisiblePointsKITTIV2
- type: FilterPointOutsideRange
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
mode: val
class_names: ["Car"]
model:
type: VoxelRCNN
num_class: 1
voxelizer:
type: HardVoxelizer
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
voxel_size: [0.05, 0.05, 0.1]
max_num_points_in_voxel: 5
max_num_voxels: [16000, 40000]
voxel_encoder:
type: VoxelMean
in_channels: 4
middle_encoder:
type: SparseNet3D
in_channels: 4
voxel_size: [0.05, 0.05, 0.1]
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
backbone:
type: SecondBackbone
in_channels: 256
out_channels: [64, 128]
layer_nums: [5, 5]
downsample_strides: [1, 2]
neck:
type: SecondFPN
in_channels: [64, 128]
out_channels: [128, 128]
upsample_strides: [1, 2]
use_conv_for_no_stride: False
dense_head:
type: AnchorHeadSingle
model_cfg:
use_direction_classifier: True
dir_offset: 0.78539
dir_limit_offset: 0.0
input_channels: 256
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
class_names: ['Car']
predict_boxes_when_training: True
voxel_size: [0.05, 0.05, 0.1]
anchor_generator_cfg: [
{
'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
}
]
anchor_target_cfg:
pos_fraction: -1.0
sample_size: 512
norm_by_num_examples: False
match_height: False
num_dir_bins: 2
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:
type: VoxelRCNNHead
num_class: 1
input_channels:
x_conv1: 16
x_conv2: 32
x_conv3: 64
x_conv4: 64
point_cloud_range: [0, -40, -3, 70.4, 40, 1]
voxel_size: [0.05, 0.05, 0.1]
model_cfg:
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_class_nms: False
nms_pre_maxsize: 9000
nms_post_maxsize: 512
nms_thresh: 0.8
test:
nms_type: nms_gpu
multi_class_nms: False
use_fast_nms: False
score_thresh: 0.0
nms_pre_maxsize: 2048
nms_post_maxsize: 100
nms_thresh: 0.7
roi_grid_pool:
features_source: ['x_conv2', 'x_conv3', 'x_conv4']
pre_mlp: True
grid_size: 6
pool_layers:
x_conv2:
mlps: [[32, 32]]
query_ranges: [[4, 4, 4]]
pool_radius: [0.4]
nsample: [16]
pool_method: max_pool
x_conv3:
mlps: [[32, 32]]
query_ranges: [[4, 4, 4]]
pool_radius: [0.8]
nsample: [16]
pool_method: max_pool
x_conv4:
mlps: [[32, 32]]
query_ranges: [[4, 4, 4]]
pool_radius: [1.6]
nsample: [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: 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
grid_3d_iou_loss: False
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_process_cfg:
score_thresh: 0.3
output_raw_score: False
nms_config:
multi_classes_nms: False
nms_type: nms_gpu
nms_thresh: 0.1
nms_pre_maxsize: 4096
nms_post_maxsize: 500
optimizer:
type: OneCycleAdam
beta2: 0.99
weight_decay: 0.01
grad_clip:
type: ClipGradByGlobalNorm
clip_norm: 10
beta1:
type: OneCycleDecayWarmupMomentum
momentum_peak: 0.95
momentum_trough: 0.85
step_ratio_peak: 0.4
lr_scheduler:
type: OneCycleWarmupDecayLr
base_learning_rate: 0.001
lr_ratio_peak: 10
lr_ratio_trough: 0.0001
step_ratio_peak: 0.4