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centerpoint_pillars_02voxel_nuscenes_10sweep.yml
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centerpoint_pillars_02voxel_nuscenes_10sweep.yml
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batch_size: 4
epochs: 20
train_dataset:
type: NuscenesPCDataset
dataset_root: datasets/nuscenes/
transforms:
- type: LoadPointCloud
dim: 5
use_dim: 4
use_time_lag: True
sweep_remove_radius: 1
- type: SamplingDatabase
min_num_points_in_box_per_class:
car: 5
truck: 5
bus: 5
trailer: 5
construction_vehicle: 5
traffic_cone: 5
barrier: 5
motorcycle: 5
bicycle: 5
pedestrian: 5
max_num_samples_per_class:
car: 2
truck: 3
construction_vehicle: 7
bus: 4
trailer: 6
barrier: 2
motorcycle: 6
bicycle: 6
pedestrian: 2
traffic_cone: 2
database_anno_path: datasets/nuscenes/gt_database_train_nsweeps10_withvelo/anno_info_train_nsweeps10_withvelo.pkl
database_root: datasets/nuscenes/
class_names: ["car", "truck", "construction_vehicle", "bus", "trailer", "barrier", "motorcycle", "bicycle", "pedestrian", "traffic_cone"]
- type: RandomVerticalFlip
- type: RandomHorizontalFlip
- type: GlobalRotate
min_rot: -0.3925
max_rot: 0.3925
- type: GlobalScale
min_scale: 0.95
max_scale: 1.05
- type: ShufflePoint
- type: FilterBBoxOutsideRange
point_cloud_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
- type: Gt2CenterPointTarget
tasks:
- num_class: 1
class_names: ["car"]
- num_class: 2
class_names: ["truck", "construction_vehicle"]
- num_class: 2
class_names: ["bus", "trailer"]
- num_class: 1
class_names: ["barrier"]
- num_class: 2
class_names: ["motorcycle", "bicycle"]
- num_class: 2
class_names: ["pedestrian", "traffic_cone"]
down_ratio: 4
point_cloud_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
voxel_size: [0.2, 0.2, 8]
gaussian_overlap: 0.1
max_objs: 500
min_radius: 2
mode: train
max_sweeps: 10
class_balanced_sampling: True
class_names: ["car", "truck", "construction_vehicle", "bus", "trailer", "barrier", "motorcycle", "bicycle", "pedestrian", "traffic_cone"]
val_dataset:
type: NuscenesPCDataset
dataset_root: datasets/nuscenes/
transforms:
- type: LoadPointCloud
dim: 5
use_dim: 4
use_time_lag: True
sweep_remove_radius: 1
mode: val
max_sweeps: 10
class_names: ["car", "truck", "construction_vehicle", "bus", "trailer", "barrier", "motorcycle", "bicycle", "pedestrian", "traffic_cone"]
optimizer:
type: OneCycleAdam
beta2: 0.99
weight_decay: 0.01
grad_clip:
type: ClipGradByGlobalNorm
clip_norm: 35
beta1:
type: OneCycleDecayWarmupMomentum
momentum_peak: 0.95
momentum_trough: 0.85
step_ratio_peak: 0.4
lr_scheduler:
type: OneCycleWarmupDecayLr
base_learning_rate: 0.0001
lr_ratio_peak: 10
lr_ratio_trough: 0.0001
step_ratio_peak: 0.4
model:
type: CenterPoint
voxelizer:
type: HardVoxelizer
point_cloud_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
voxel_size: [0.2, 0.2, 8]
max_num_points_in_voxel: 20
max_num_voxels: [30000, 60000]
voxel_encoder:
type: PillarFeatureNet
in_channels: 5
feat_channels: [64, 64]
with_distance: False
max_num_points_in_voxel: 20
voxel_size: [0.2, 0.2, 8]
point_cloud_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
legacy: False
middle_encoder:
type: PointPillarsScatter
in_channels: 64
voxel_size: [0.2, 0.2, 8]
point_cloud_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
backbone:
type: SecondBackbone
in_channels: 64
out_channels: [64, 128, 256]
layer_nums: [3, 5, 5]
downsample_strides: [2, 2, 2]
neck:
type: SecondFPN
in_channels: [64, 128, 256]
out_channels: [128, 128, 128]
upsample_strides: [0.5, 1, 2]
use_conv_for_no_stride: True
bbox_head:
type: CenterHead
in_channels: 384 # sum([128, 128, 128])
tasks:
- num_class: 1
class_names: ["car"]
- num_class: 2
class_names: ["truck", "construction_vehicle"]
- num_class: 2
class_names: ["bus", "trailer"]
- num_class: 1
class_names: ["barrier"]
- num_class: 2
class_names: ["motorcycle", "bicycle"]
- num_class: 2
class_names: ["pedestrian", "traffic_cone"]
weight: 0.25 # loc_loss weight
code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0] # [x, y, z, w, h, l, vx, vy, sin(angle), cos(angle)] weight in loc loss
common_heads:
reg: [2, 2] # classes, num_conv
height: [1, 2]
dim: [3, 2]
rot: [2, 2]
vel: [2, 2]
test_cfg:
post_center_limit_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
max_per_img: 500
nms:
nms_pre_max_size: 1000
nms_post_max_size: 83
nms_iou_threshold: 0.2
score_threshold: 0.1
point_cloud_range: [-51.2, -51.2]
down_ratio: 4
voxel_size: [0.2, 0.2]
box_with_velocity: True
export:
transforms:
- type: LoadPointCloud
dim: 5
use_dim: 4
use_time_lag: True