-
Notifications
You must be signed in to change notification settings - Fork 17
/
Copy pathunitr_map+lss.yaml
235 lines (198 loc) · 6.27 KB
/
unitr_map+lss.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
DATA_CONFIG:
_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml
POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
INFO_PATH: {
'train': [nuscenes_infos_10sweeps_train.pkl],
'test': [nuscenes_infos_10sweeps_val.pkl],
}
CAMERA_CONFIG:
USE_CAMERA: True
IMAGE:
FINAL_DIM: [256,704]
RESIZE_LIM_TRAIN: [0.38, 0.55]
RESIZE_LIM_TEST: [0.48, 0.48]
MAP_CONFIG:
USE_MAP: True
CLASS_NAMES: ['drivable_area', 'ped_crossing', 'walkway', 'stop_line', 'carpark_area', 'divider']
DATA_AUGMENTOR:
DISABLE_AUG_LIST: ['placeholder']
AUG_CONFIG_LIST:
- NAME: random_world_rotation
WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]
- NAME: random_world_translation
NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]
- NAME: random_world_scaling
WORLD_SCALE_RANGE: [0.9, 1.1]
- NAME: random_world_flip
ALONG_AXIS_LIST: ['x', 'y']
- NAME: imgaug
ROT_LIM: [-5.4, 5.4]
RAND_FLIP: True
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_placeholder
VOXEL_SIZE: [0.4, 0.4, 8.0]
- NAME: image_calibrate
- NAME: image_normalize
mean: [0.485, 0.456, 0.406]
std: [0.229, 0.224, 0.225]
bgr2rgb: True
- NAME: load_bev_segmentation
classes: ['drivable_area', 'ped_crossing', 'walkway', 'stop_line', 'carpark_area', 'divider']
xbound: [-50.0, 50.0, 0.5]
ybound: [-50.0, 50.0, 0.5]
dataset_root: '../data/nuscenes/v1.0-trainval'
location: ['singapore-onenorth', 'singapore-hollandvillage', 'singapore-queenstown', 'boston-seaport']
MODEL:
NAME: UniTRMAP
MM_BACKBONE:
NAME: UniTR
PATCH_EMBED:
in_channels: 3
image_size: [256, 704]
embed_dims: 128
patch_size: 8
patch_norm: True
norm_cfg: {'type': 'LN'}
IMAGE_INPUT_LAYER:
sparse_shape: [32, 88, 1]
d_model: [128]
set_info: [[90, 4]]
window_shape: [[30, 30, 1]]
hybrid_factor: [1, 1, 1] # x, y, z
shifts_list: [[[0, 0, 0], [15, 15, 0]]]
input_image: True
LIDAR_INPUT_LAYER:
sparse_shape: [256, 256, 1]
d_model: [128]
set_info: [[90, 4]]
window_shape: [[30, 30, 1]]
hybrid_factor: [1, 1, 1] # x, y, z
shifts_list: [[[0, 0, 0], [15, 15, 0]]]
set_info: [[90, 4]]
d_model: [128]
nhead: [8]
dim_feedforward: [256]
dropout: 0.0
activation: gelu
checkpoint_blocks: [0,1,2,3]
layer_cfg: {'use_bn': False, 'split_ffn': True, 'split_residual': True}
# fuse backbone config
FUSE_BACKBONE:
IMAGE2LIDAR:
block_start: 3
block_end: 4
point_cloud_range: [-51.2, -51.2, -10.0, 51.2, 51.2, 10.0]
voxel_size: [0.4,0.4,20.0]
sample_num: 20
image2lidar_layer:
sparse_shape: [256, 256, 1]
d_model: [128]
set_info: [[90, 1]]
window_shape: [[30, 30, 1]]
hybrid_factor: [1, 1, 1]
shifts_list: [[[0, 0, 0], [15, 15, 0]]]
expand_max_voxels: 10
LIDAR2IMAGE:
block_start: 1
block_end: 3
point_cloud_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
voxel_size: [0.4,0.4,8.0]
sample_num: 1
lidar2image_layer:
sparse_shape: [96, 264, 6]
d_model: [128]
set_info: [[90, 2]]
window_shape: [[30, 30, 1]]
hybrid_factor: [1, 1, 1]
shifts_list: [[[0, 0, 0], [15, 15, 0]]]
expand_max_voxels: 30
out_indices: [0, 1, 2, 3]
NECK:
NAME: GeneralizedLSSFPN
IN_CHANNELS: [128, 128, 128, 128]
OUT_CHANNELS: 256
START_LEVEL: 0
END_LEVEL: -1
NUM_OUTS: 4
USE_BIAS: True
ALIGN_CORNERS: True
VTRANSFORM:
NAME: LSSTransform
IMAGE_SIZE: [256,704]
IN_CHANNEL: 256
OUT_CHANNEL: 80
FEATURE_SIZE: [32,88]
XBOUND: [-51.2, 51.2, 0.4]
YBOUND: [-51.2, 51.2, 0.4]
ZBOUND: [-10.0, 10.0, 20.0]
DBOUND: [1.0, 60.0, 0.5]
DOWNSAMPLE: 1
USE_CONV_FOR_NO_STRIDE: True
FUSER:
NAME: ConvFuser
IN_CHANNEL: 208
OUT_CHANNEL: 128
VFE:
NAME: DynPillarVFE
WITH_DISTANCE: False
USE_ABSLOTE_XYZ: True
USE_NORM: True
NUM_FILTERS: [ 128, 128 ]
MAP_TO_BEV:
NAME: PointPillarScatter3d
INPUT_SHAPE: [256, 256, 1]
NUM_BEV_FEATURES: 128
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [ 5, 5, 5, 5]
LAYER_STRIDES: [2, 2, 2, 2]
NUM_FILTERS: [128, 256, 256, 256]
UPSAMPLE_STRIDES: [1, 2, 4, 8]
NUM_UPSAMPLE_FILTERS: [256, 256, 256, 256]
USE_CONV_FOR_NO_STRIDE: True
DENSE_HEAD:
CLASS_AGNOSTIC: False
NAME: BEVSegmentationHead
GRID_TRANSFORM:
INPUT_SCOPE: [[-51.2, 51.2, 0.8], [-51.2, 51.2, 0.8]]
OUTPUT_SCOPE: [[-50, 50, 0.5], [-50, 50, 0.5]]
LOSS_CONFIG:
gamma: 2.0
alpha: -1
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: True
NMS_TYPE: nms_gpu
NMS_THRESH: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 83
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 3
NUM_EPOCHS: 20
OPTIMIZER: adam_onecycle
LR: 0.001
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
LOSS_SCALE_FP16: 32