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dts.yaml
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CLASS_NAMES: ['car']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/da_nuscenes_kitti_dataset.yaml
MAX_SWEEPS: 1
PRED_VELOCITY: False
BALANCED_RESAMPLING: False
SHIFT_COOR: [0.0, 0.0, 1.8]
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': True
}
- NAME: transform_points_to_voxels
VOXEL_SIZE: [0.2, 0.2, 6.0]
MAX_POINTS_PER_VOXEL: 20
MAX_NUMBER_OF_VOXELS: {
'train': 30000,
'test': 30000
}
DATA_AUGMENTOR:
DISABLE_AUG_LIST: ['normalize_object_size']
AUG_CONFIG_LIST:
- NAME: random_beam_upsample
BEAM: 32
BEAM_PROB: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
PHI_THRESHOLD: 0.03
- NAME: random_object_scaling
SCALE_UNIFORM_NOISE: [0.75, 1.0]
- NAME: normalize_object_size
SIZE_RES: [-0.75, -0.34, -0.2]
- NAME: random_world_flip
ALONG_AXIS_LIST: ['x', 'y']
- NAME: random_world_rotation
WORLD_ROT_ANGLE: [-0.3925, 0.3925]
- NAME: random_world_scaling
WORLD_SCALE_RANGE: [0.95, 1.05]
DATA_CONFIG_TAR:
_BASE_CONFIG_: cfgs/dataset_configs/da_kitti_dataset_mt.yaml
PROVIDE_GT: False
SAME_POINT_SAMPLING: True
AUGMENT_STUDENT: True
AUGMENT_TEACHER: False
TARGET: True
FOV_POINTS_ONLY: False
USE_PSEUDO_LABEL: True
CLASS_NAMES: ['Car']
SHIFT_COOR: [0.0, 0.0, 1.6]
DATA_PROCESSOR:
- NAME: mask_points_and_boxes_outside_range
REMOVE_OUTSIDE_BOXES: True
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': True
}
- NAME: transform_points_to_voxels
VOXEL_SIZE: [0.2, 0.2, 6.0]
MAX_POINTS_PER_VOXEL: 20
MAX_NUMBER_OF_VOXELS: {
'train': 30000,
'test': 30000
}
DATA_AUGMENTOR:
DISABLE_AUG_LIST: [ 'placeholder' ]
AUG_CONFIG_LIST:
- NAME: random_beam_downsample
BEAM: 64
BEAM_PROB: [0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75,
0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75,
0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75,
0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75,
0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75,
0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75,
0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75, 0.75]
PHI_THRESHOLD: 0.03
- NAME: random_object_scaling
SCALE_UNIFORM_NOISE: [ 0.95, 1.05 ]
- 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: PointPillarMT
EMA_MODEL_ALPHA: 0.999
CONSISTENCY_LOSS: {
'inter_graph_loss_weight': 0.3,
'GLR_loss_weight': 0.4,
'object_loss_weight': 0.05
}
INTER_GRAPH_THRESHOLD: 0.1
VFE:
NAME: PillarVFE
WITH_DISTANCE: False
USE_ABSLOTE_XYZ: True
USE_NORM: True
NUM_FILTERS: [64]
MAP_TO_BEV:
NAME: PointPillarScatter
NUM_BEV_FEATURES: 64
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [3, 5, 5]
LAYER_STRIDES: [2, 2, 2]
NUM_FILTERS: [64, 128, 256]
UPSAMPLE_STRIDES: [1, 2, 4]
NUM_UPSAMPLE_FILTERS: [128, 128, 128]
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, 1.56]],
'anchor_rotations': [0, 1.57],
'anchor_bottom_heights': [0],
'align_center': False,
'feature_map_stride': 2,
'matched_threshold': 0.6,
'unmatched_threshold': 0.45
},
]
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]
}
ROI_HEAD:
NAME: PillarHeadMT
CLASS_AGNOSTIC: True
SHARED_FC: [256, 256]
IOU_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: 7
IN_CHANNEL: 384
DOWNSAMPLE_RATIO: 8
TARGET_CONFIG:
BOX_CODER: ResidualCoder
ROI_PER_IMAGE: 128
FG_RATIO: 0.5
SAMPLE_ROI_BY_EACH_CLASS: False
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:
IOU_LOSS: BinaryCrossEntropy
LOSS_WEIGHTS: {
'rcnn_iou_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: 0.01
NMS_PRE_MAXSIZE: 4096
NMS_POST_MAXSIZE: 500
OPTIMIZATION:
NUM_EPOCHS: 10
BATCH_SIZE_PER_GPU: 2
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:
SCORE_THRESH: [0.5]
NEG_THRESH: [0.2]
UPDATE_PSEUDO_LABEL: [0]
UPDATE_PSEUDO_LABEL_INTERVAL: 2
INIT_PS: None
SRC:
USE_DATA: False
USE_GRAD: False
LOSS_WEIGHT: 1.0
TAR:
USE_DATA: True
LOSS_WEIGHT: 1.0
PROG_AUG:
ENABLED: False
UPDATE_AUG: [5, 10, 20, 25]
SCALE: 1.1
MEMORY_ENSEMBLE:
ENABLED: True
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: True
IGNORE_THRESH: 2
RM_THRESH: 3