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pointpillars_xyres16_kitti_car.yml
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pointpillars_xyres16_kitti_car.yml
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batch_size: 2
iters: 296960 # 160 epochs
train_dataset:
type: KittiPCDataset
dataset_root: datasets/KITTI
class_names: [ "Car" ]
transforms:
- type: LoadPointCloud
dim: 4
use_dim: 4
- type: RemoveCameraInvisiblePointsKITTI
- 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: RandomObjectPerturb
rotation_range: [ -0.15707963267, 0.15707963267 ]
translation_std: [ 0.25, 0.25, 0.25 ]
max_num_attempts: 100
- type: RandomVerticalFlip
- type: GlobalRotate
min_rot: -0.78539816
max_rot: 0.78539816
- type: GlobalScale
min_scale: 0.95
max_scale: 1.05
- type: GlobalTranslate
translation_std: [ 0.2, 0.2, 0.2 ]
- type: FilterBBoxOutsideRange
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
- type: ShufflePoint
- type: HardVoxelize
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
voxel_size: [ 0.16, 0.16, 4 ]
max_points_in_voxel: 32
max_voxel_num: 16000
- type: GenerateAnchors
output_stride_factor: 2
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
voxel_size: [ 0.16, 0.16, 4 ]
anchor_configs:
- sizes: [ 1.6, 3.9, 1.56 ] # wlh
anchor_strides: [ 0.32, 0.32, 0.0 ]
anchor_offsets: [ 0.16, -39.52, -1.78 ]
rotations: [ 0, 1.57 ]
matched_threshold: 0.6
unmatched_threshold: 0.45
anchor_area_threshold: 1
- type: Gt2PointPillarsTarget
rpn_batch_size: 512
mode: train
val_dataset:
type: KittiPCDataset
dataset_root: datasets/KITTI
class_names: [ "Car" ]
transforms:
- type: LoadPointCloud
dim: 4
use_dim: 4
- type: RemoveCameraInvisiblePointsKITTI
- type: HardVoxelize
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
voxel_size: [ 0.16, 0.16, 4 ]
max_points_in_voxel: 32
max_voxel_num: 40000
- type: GenerateAnchors
output_stride_factor: 2 # RPN `downsample_strides`[0] // `upsample_strides`[0]
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
voxel_size: [ 0.16, 0.16, 4 ]
anchor_configs:
- sizes: [ 1.6, 3.9, 1.56 ] # wlh
anchor_strides: [ 0.32, 0.32, 0.0 ]
anchor_offsets: [ 0.16, -39.52, -1.78 ]
rotations: [ 0, 1.57 ]
matched_threshold: 0.6
unmatched_threshold: 0.45
anchor_area_threshold: 1
mode: val
model:
type: PointPillars
voxelizer:
type: HardVoxelizer
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
voxel_size: [ 0.16, 0.16, 4 ]
max_num_points_in_voxel: 32
max_num_voxels: [ 16000, 40000 ] # train, test
pillar_encoder:
type: PillarFeatureNet
in_channels: 4
feat_channels: [ 64 ]
with_distance: False
max_num_points_in_voxel: 32
voxel_size: [ 0.16, 0.16, 4 ]
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
legacy: False
middle_encoder:
type: PointPillarsScatter
in_channels: 64
voxel_size: [ 0.16, 0.16, 4 ]
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
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: [ 1, 2, 4 ]
use_conv_for_no_stride: False
head:
type: SSDHead
num_classes: 1
feature_channels: 384 # sum(upsample_channels)
num_anchor_per_loc: 2
encode_background_as_zeros: True
use_direction_classifier: True
box_code_size: 7
nms_score_threshold: 0.05
nms_pre_max_size: 1000
nms_post_max_size: 300
nms_iou_threshold: 0.5
prediction_center_limit_range: [ 0, -39.68, -5, 69.12, 39.68, 5 ]
loss:
type: PointPillarsLoss
num_classes: 1
classification_loss:
type: SigmoidFocalClassificationLoss
gamma: 2.0
alpha: 0.25
regression_loss:
type: WeightedSmoothL1RegressionLoss
sigma: 3.0
code_weights: [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ]
direction_loss:
type: WeightedSoftmaxClassificationLoss
classification_loss_weight: 1.0
regression_loss_weight: 2.0
direction_loss_weight: 0.2
fg_cls_weight: 1.0
bg_cls_weight: 1.0
encode_rot_error_by_sin: True
use_direction_classifier: True
encode_background_as_zeros: True
box_code_size: 7
anchor_configs:
- sizes: [ 1.6, 3.9, 1.56 ] # wlh
anchor_strides: [ 0.32, 0.32, 0.0 ]
anchor_offsets: [ 0.16, -39.52, -1.78 ]
rotations: [ 0, 1.57 ]
matched_threshold: 0.6
unmatched_threshold: 0.45
anchor_area_threshold: 1
optimizer:
type: Adam
weight_decay: 0.0001
grad_clip:
type: ClipGradByGlobalNorm
clip_norm: 10.0
lr_scheduler:
type: StepDecay
learning_rate: 0.0002
step_size: 27840 # decay every 15 epochs
gamma: 0.8
export:
transforms:
- type: LoadPointCloud
dim: 4
use_dim: 4
- type: HardVoxelize
point_cloud_range: [ 0, -39.68, -3, 69.12, 39.68, 1 ]
voxel_size: [ 0.16, 0.16, 4 ]
max_points_in_voxel: 32
max_voxel_num: 16000