graph_rcnn_ce.yaml

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

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml

    POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]

    DATA_SPLIT: {
        'train': train,
        'test': val
    }

    SAMPLED_INTERVAL: {
        'train': 1,
        'test': 1
    }

    DATA_PROCESSOR:
      - NAME: shuffle_points
        SHUFFLE_ENABLED: {
          'train': True,
          'test': False
        }

      - NAME: calculate_grid_size
        VOXEL_SIZE: [0.1, 0.1, 0.15]

MODEL:
    NAME: GraphRCNN

    FREEZE_LAYERS: ['DynVFE', 'VoxelResBackBone8x', 'HeightCompression', 'BaseBEVBackbone', 'CenterHead']

    VFE:
        NAME: DynVFE
        TYPE: mean

    BACKBONE_3D:
        NAME: VoxelResBackBone8x

    MAP_TO_BEV:
        NAME: HeightCompression
        NUM_BEV_FEATURES: 256

    BACKBONE_2D:
        NAME: BaseBEVBackbone

        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

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

        SHARED_CONV_CHANNEL: 64
        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: multi_class_nms
                NMS_THRESH: [0.7, 0.55, 0.55]
                NMS_PRE_MAXSIZE: [2048, 1024, 1024]
                NMS_POST_MAXSIZE: [200, 150, 150]
                IOU_RECTIFIER: [0., 0., 0.]

    ROI_HEAD:
        NAME: GraphRCNNHead
        CLASS_AGNOSTIC: True

        NMS_CONFIG:
            TRAIN: None
            TEST: None

        DFVS_CONFIG:
            NUM_DVS_POINTS: 1024
            NUM_FPS_POINTS: 256
            HASH_SIZE: 4099
            LAMBDA: 0.18
            DELTA: 50
            POOL_EXTRA_WIDTH: [0.8, 0.8, 0.8]
            NUM_BOXES_PER_PATCH: 32

        ATTN_GNN_CONFIG:
            IN_DIM: 11
            OUT_DIM: 256
            MLPS: [32, 32, 64]
            CALIB_DIM: 64
            EXP_MLPS: [512]
            K: 8
            USE_FEATS_DIS: False
            USE_REDUCTION: True
            USE_SHORT_CUT: True

        TARGET_CONFIG:
            BOX_CODER: ResidualCoder
            BOX_CODER_CONFIG: {
                'norm': False
            }
            ROI_PER_IMAGE: 128
            FG_RATIO: 0.5

            SAMPLE_ROI_BY_EACH_CLASS: True
            CLS_SCORE_TYPE: roi_iou

            CLS_FG_THRESH: 0.75
            CLS_BG_THRESH: 0.25
            CLS_BG_THRESH_LO: 0.1
            HARD_BG_RATIO: 0.8

            REG_FG_THRESH: 0.55

        LOSS_CONFIG:
            CLS_LOSS: BinaryCrossEntropy
            REG_LOSS: WeightedL1Loss
            CORNER_LOSS_REGULARIZATION: False
            LOSS_WEIGHTS: {
                'rcnn_cls_weight': 1.0,
                'rcnn_reg_weight': 1.0,
                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
            }

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
        OUTPUT_RAW_SCORE: False
        
        EVAL_METRIC: waymo_custom

        NMS_CONFIG:
            MULTI_CLASSES_NMS: False
            NMS: False

OPTIMIZATION:
    BATCH_SIZE_PER_GPU: 8
    NUM_EPOCHS: 6

    OPTIMIZER: adam_onecycle
    LR: 0.003
    WEIGHT_DECAY: 0.01
    MOMENTUM: 0.9
    SYNC_BN: True

    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: 35