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3dssd.yaml
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CLASS_NAMES: ['Car'] # 'Pedestrain', 'Cyclist'
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
DATA_AUGMENTOR:
DISABLE_AUG_LIST: ['placeholder']
AUG_CONFIG_LIST:
- NAME: gt_sampling
USE_ROAD_PLANE: True
DB_INFO_PATH:
- kitti_dbinfos_train.pkl
PREPARE: {
filter_by_min_points: [ 'Car:5' ], # 'Pedestrian:10', 'Cyclist:10'
filter_by_difficulty: [ -1 ],
}
SAMPLE_GROUPS: [ 'Car: 15' ] # 'Pedestrian:8', 'Cyclist:8'
NUM_POINT_FEATURES: 4
DATABASE_WITH_FAKELIDAR: False
REMOVE_EXTRA_WIDTH: [ 0.0, 0.0, 0.0 ]
LIMIT_WHOLE_SCENE: False
- NAME: random_world_flip
ENABLE_PROB: 0.5
ALONG_AXIS_LIST: [ 'x' ]
- NAME: random_box_noise
ENABLE_PROB: 0.5
LOC_NOISE: [ 1.0, 1.0, 0.0 ]
SCALE_RANGE: [ 1.0, 1.0 ]
ROTATION_RANGE: [ -1.04719755, 1.04719755 ]
- NAME: random_world_rotation
ENABLE_PROB: 0.5
WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
- NAME: random_world_scaling
ENABLE_PROB: 0.5
WORLD_SCALE_RANGE: [ 0.9, 1.1 ]
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: sample_points
NUM_POINTS: {
'train': 16384,
'test': 16384
}
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': False
}
MODEL:
NAME: 3DSSD
BACKBONE_3D:
NAME: PointNet2FSMSG
SA_CONFIG:
NPOINT_LIST: [[4096], [512, 512], [256, 256]]
SAMPLE_RANGE_LIST: [[[0, 16384]], [[0, 4096], [0, 4096]], [[0, 512], [512, 1024]]]
SAMPLE_METHOD_LIST: [['d-fps'], ['f-fps', 'd-fps'], ['f-fps', 'd-fps']]
RADIUS: [[0.2, 0.4, 0.8], [0.4, 0.8, 1.6], [1.6, 3.2, 4.8]]
NSAMPLE: [[32, 32, 64], [32, 32, 64], [32, 32, 64]]
MLPS: [[[16, 16, 32], [16, 16, 32], [32, 32, 64]],
[[64, 64, 128], [64, 64, 128], [64, 96, 128]],
[[128, 128, 256], [128, 196, 256], [128, 256, 256]]]
AGGREGATION_MLPS: [[64], [128], [256]]
WEIGHT_GAMMA: 1.0
DILATED_RADIUS_GROUP: True
POINT_HEAD:
NAME: PointHeadVote
CLASS_AGNOSTIC: False
USE_BN: True
SAMPLE_RANGE: [ 0, 256 ]
VOTE_CONFIG:
VOTE_FC: [ 128 ]
MAX_TRANSLATION_RANGE: [ 3.0, 3.0, 2.0 ]
SA_CONFIG:
RADIUS: [ 4.8, 6.4 ]
NSAMPLE: [ 48, 64 ]
MLPS: [[ 256, 256, 512 ],
[ 256, 512, 1024 ]]
SHARED_FC: [ 512, 256 ]
CLS_FC: [ 128 ]
REG_FC: [ 128 ]
TARGET_CONFIG:
VOTE_EXTRA_WIDTH: [0.1, 0.1, 0.1]
ASSIGN_METHOD: mask
GT_CENTRAL_RADIUS: 10.0
BOX_CODER: PointBinResidualCoder
BOX_CODER_CONFIG: {
'use_mean_size': False,
'angle_bin_num': 12
}
LOSS_CONFIG:
LOSS_CLS: WeightedBinaryCrossEntropyWithCenterness
LOSS_REG: WeightedSmoothL1Loss
AXIS_ALIGNED_IOU_LOSS_REGULARIZATION: True
CORNER_LOSS_REGULARIZATION: True
LOSS_WEIGHTS: {
'vote_reg_weight': 1.0,
'point_cls_weight': 1.0,
'point_offset_reg_weight': 1.0,
'point_angle_cls_weight': 1.0,
'point_angle_reg_weight': 1.0,
'point_iou_weight': 1.0,
'point_corner_weight': 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: 0.01
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 8
NUM_EPOCHS: 80
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