cp-voxel-s.yaml

CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml

MODEL:
    NAME: CenterPoint
    IGNORE_PRETRAIN_MODULES: ['placeholder']

    VFE:
        NAME: MeanVFE

    BACKBONE_3D:
        NAME: VoxelResBackBone8x
        ACT_FN: ReLU
        # [input, conv1, conv2, conv3, conv4, output]
        NUM_FILTERS: [16, 16, 32, 64, 128, 128]
        LAYER_NUMS: [1, 2, 3, 3, 3, 1]
        WIDTH: 1.0

    MAP_TO_BEV:
        NAME: HeightCompression
        NUM_BEV_FEATURES: 256

    BACKBONE_2D:
        NAME: BaseBEVBackbone
        ACT_FN: ReLU
        NORM_TYPE: BatchNorm2d
        WIDTH: 0.5

        LAYER_NUMS: [5, 5]
        LAYER_STRIDES: [1, 2]
        NUM_FILTERS: [128, 256]
        UPSAMPLE_STRIDES: [1, 2]
        NUM_UPSAMPLE_FILTERS: [256, 256]

    DENSE_HEAD:
        NAME: CenterHead
        CLASS_AGNOSTIC: False
        ACT_FN: ReLU
        NORM_TYPE: BatchNorm2d

        CLASS_NAMES_EACH_HEAD: [
            ['Vehicle', 'Pedestrian', 'Cyclist']
        ]

        SHARED_CONV_CHANNEL: 32
        USE_BIAS_BEFORE_NORM: True
        NUM_HM_CONV: 2
        SEPARATE_HEAD_CFG:
            HEAD_ORDER: ['center', 'center_z', 'dim', 'rot']
            HEAD_DICT: {
                'center': {'out_channels': 2, 'num_conv': 2},
                'center_z': {'out_channels': 1, 'num_conv': 2},
                'dim': {'out_channels': 3, 'num_conv': 2},
                'rot': {'out_channels': 2, 'num_conv': 2},
            }

        TARGET_ASSIGNER_CONFIG:
            FEATURE_MAP_STRIDE: 8
            NUM_MAX_OBJS: 500
            GAUSSIAN_OVERLAP: 0.1
            MIN_RADIUS: 2

        LOSS_CONFIG:
            LOSS_WEIGHTS: {
                'cls_weight': 1.0,
                'loc_weight': 2.0,
                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
            }

        POST_PROCESSING:
            SCORE_THRESH: 0.1
            POST_CENTER_LIMIT_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
            MAX_OBJ_PER_SAMPLE: 500
            NMS_CONFIG:
                NMS_TYPE: nms_gpu
                NMS_THRESH: 0.7
                NMS_PRE_MAXSIZE: 4096
                NMS_POST_MAXSIZE: 500

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]

        EVAL_METRIC: waymo
        EVAL_CLASSES: {
            'LEVEL_2/AP': [ 'OBJECT_TYPE_TYPE_VEHICLE_LEVEL_2/AP',
                            'OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_2/AP',
                            'OBJECT_TYPE_TYPE_CYCLIST_LEVEL_2/AP'
            ],
            'LEVEL_2/APH': [ 'OBJECT_TYPE_TYPE_VEHICLE_LEVEL_2/APH',
                             'OBJECT_TYPE_TYPE_PEDESTRIAN_LEVEL_2/APH',
                             'OBJECT_TYPE_TYPE_CYCLIST_LEVEL_2/APH'
            ]
        }



OPTIMIZATION:
    BATCH_SIZE_PER_GPU: 4
    NUM_EPOCHS: 30

    OPTIMIZER: adam_onecycle
    LR: 0.003
    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

    REMAP_PRETRAIN:
        ENABLED: False
        WAY: BN_SCALE
        BN_SCALE:
            ABS: True
        OFA:
            l1_norm: max