dsvt_3D_D512e.yaml

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

DATA_CONFIG:
  _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml

  SAMPLED_INTERVAL: {'train': 5, 'test': 1}
  POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
  DATA_AUGMENTOR:
    DISABLE_AUG_LIST: ['placeholder']
    AUG_CONFIG_LIST:
      - NAME: gt_sampling
        USE_ROAD_PLANE: False
        DB_INFO_PATH:
          - waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl

        USE_SHARED_MEMORY: True  # set it to True to speed up (it costs about 15GB shared memory)
        DB_DATA_PATH:
          - waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy

        BACKUP_DB_INFO:
          # if the above DB_INFO cannot be found, will use this backup one
          DB_INFO_PATH: waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl
          DB_DATA_PATH: waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.npy
          NUM_POINT_FEATURES: 6

        PREPARE: {
          filter_by_min_points: ['Vehicle:5', 'Pedestrian:10', 'Cyclist:10'],
          filter_by_difficulty: [-1],
        }

        SAMPLE_GROUPS: ['Vehicle:15', 'Pedestrian:10', 'Cyclist:10']
        NUM_POINT_FEATURES: 5
        REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
        LIMIT_WHOLE_SCENE: True

      - 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: [0.95, 1.05]

      - NAME: random_world_translation
        NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5]

  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: [ 0.32, 0.32, 0.1875]

MODEL:
  NAME: CenterPoint

  VFE:
    NAME: DynPillarVFE3D
    WITH_DISTANCE: False
    USE_ABSLOTE_XYZ: True
    USE_NORM: True
    NUM_FILTERS: [ 192, 192 ]

  BACKBONE_3D:
    NAME: DSVT
    INPUT_LAYER:
      sparse_shape: [468, 468, 32]
      downsample_stride: [[1, 1, 4], [1, 1, 4], [1, 1, 2]]
      d_model: [192, 192, 192, 192]
      set_info: [[48, 1], [48, 1], [48, 1], [48, 1]]
      window_shape: [[12, 12, 32], [12, 12, 8], [12, 12, 2], [12, 12, 1]]
      hybrid_factor: [2, 2, 1] # x, y, z
      shifts_list: [[[0, 0, 0], [6, 6, 0]], [[0, 0, 0], [6, 6, 0]], [[0, 0, 0], [6, 6, 0]], [[0, 0, 0], [6, 6, 0]]]
      normalize_pos: False
    
    block_name: ['DSVTBlock','DSVTBlock','DSVTBlock','DSVTBlock']
    set_info: [[48, 1], [48, 1], [48, 1], [48, 1]]
    d_model: [192, 192, 192, 192]
    nhead: [8, 8, 8, 8]
    dim_feedforward: [384, 384, 384, 384]
    dropout: 0.0 
    activation: gelu
    reduction_type: 'attention'
    output_shape: [468, 468]
    conv_out_channel: 192
    # ues_checkpoint: True

  MAP_TO_BEV:
    NAME: PointPillarScatter3d
    INPUT_SHAPE: [468, 468, 1]
    NUM_BEV_FEATURES: 192

  BACKBONE_2D:
    NAME: BaseBEVResBackbone
    LAYER_NUMS: [ 1, 2, 2 ]
    LAYER_STRIDES: [ 1, 2, 2 ]
    NUM_FILTERS: [ 128, 128, 256 ]
    UPSAMPLE_STRIDES: [ 1, 2, 4 ]
    NUM_UPSAMPLE_FILTERS: [ 128, 128, 128 ]

  DENSE_HEAD:
    NAME: CenterHead
    CLASS_AGNOSTIC: False

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

    SHARED_CONV_CHANNEL: 64
    USE_BIAS_BEFORE_NORM: False
    NUM_HM_CONV: 2

    BN_EPS: 0.001
    BN_MOM: 0.01
    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},
        'iou': {'out_channels': 1, 'num_conv': 2},
      }

    TARGET_ASSIGNER_CONFIG:
      FEATURE_MAP_STRIDE: 1
      NUM_MAX_OBJS: 500
      GAUSSIAN_OVERLAP: 0.1
      MIN_RADIUS: 2

    IOU_REG_LOSS: True

    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: [-80, -80, -10.0, 80, 80, 10.0]
      MAX_OBJ_PER_SAMPLE: 500

      USE_IOU_TO_RECTIFY_SCORE: True
      IOU_RECTIFIER: [0.68, 0.71, 0.65]

      NMS_CONFIG:
        NMS_TYPE: multi_class_nms  # only for centerhead， use mmdet3d version nms
        NMS_THRESH: [0.7, 0.6, 0.55]
        NMS_PRE_MAXSIZE: [4096, 4096, 4096]
        NMS_POST_MAXSIZE: [500, 500, 500]

  POST_PROCESSING:
    RECALL_THRESH_LIST: [0.3, 0.5, 0.7]

    EVAL_METRIC: waymo


OPTIMIZATION:
  BATCH_SIZE_PER_GPU: 1
  NUM_EPOCHS: 12

  OPTIMIZER: adam_onecycle
  LR: 0.001
  WEIGHT_DECAY: 0.05
  MOMENTUM: 0.9

  MOMS: [0.95, 0.85]
  PCT_START: 0.1
  DIV_FACTOR: 100
  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: 32.0

HOOK:
  DisableAugmentationHook:
    DISABLE_AUG_LIST: ['gt_sampling','random_world_flip','random_world_rotation','random_world_scaling', 'random_world_translation']
    NUM_LAST_EPOCHS: 1