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mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py
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_base_ = ['../_base_/schedules/cosine.py', '../_base_/default_runtime.py']
# model settings
voxel_size = [0.05, 0.05, 0.1]
point_cloud_range = [0, -40, -3, 70.4, 40, 1]
model = dict(
type='DynamicMVXFasterRCNN',
data_preprocessor=dict(
type='Det3DDataPreprocessor',
voxel=True,
voxel_type='dynamic',
voxel_layer=dict(
max_num_points=-1,
point_cloud_range=point_cloud_range,
voxel_size=voxel_size,
max_voxels=(-1, -1)),
mean=[102.9801, 115.9465, 122.7717],
std=[1.0, 1.0, 1.0],
bgr_to_rgb=False,
pad_size_divisor=32),
img_backbone=dict(
type='mmdet.ResNet',
depth=50,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=False),
norm_eval=True,
style='caffe'),
img_neck=dict(
type='mmdet.FPN',
in_channels=[256, 512, 1024, 2048],
out_channels=256,
num_outs=5),
pts_voxel_encoder=dict(
type='DynamicVFE',
in_channels=4,
feat_channels=[64, 64],
with_distance=False,
voxel_size=voxel_size,
with_cluster_center=True,
with_voxel_center=True,
point_cloud_range=point_cloud_range,
fusion_layer=dict(
type='PointFusion',
img_channels=256,
pts_channels=64,
mid_channels=128,
out_channels=128,
img_levels=[0, 1, 2, 3, 4],
align_corners=False,
activate_out=True,
fuse_out=False)),
pts_middle_encoder=dict(
type='SparseEncoder',
in_channels=128,
sparse_shape=[41, 1600, 1408],
order=('conv', 'norm', 'act')),
pts_backbone=dict(
type='SECOND',
in_channels=256,
layer_nums=[5, 5],
layer_strides=[1, 2],
out_channels=[128, 256]),
pts_neck=dict(
type='SECONDFPN',
in_channels=[128, 256],
upsample_strides=[1, 2],
out_channels=[256, 256]),
pts_bbox_head=dict(
type='Anchor3DHead',
num_classes=3,
in_channels=512,
feat_channels=512,
use_direction_classifier=True,
anchor_generator=dict(
type='Anchor3DRangeGenerator',
ranges=[
[0, -40.0, -0.6, 70.4, 40.0, -0.6],
[0, -40.0, -0.6, 70.4, 40.0, -0.6],
[0, -40.0, -1.78, 70.4, 40.0, -1.78],
],
sizes=[[0.8, 0.6, 1.73], [1.76, 0.6, 1.73], [3.9, 1.6, 1.56]],
rotations=[0, 1.57],
reshape_out=False),
assigner_per_size=True,
diff_rad_by_sin=True,
assign_per_class=True,
bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'),
loss_cls=dict(
type='mmdet.FocalLoss',
use_sigmoid=True,
gamma=2.0,
alpha=0.25,
loss_weight=1.0),
loss_bbox=dict(
type='mmdet.SmoothL1Loss', beta=1.0 / 9.0, loss_weight=2.0),
loss_dir=dict(
type='mmdet.CrossEntropyLoss', use_sigmoid=False,
loss_weight=0.2)),
# model training and testing settings
train_cfg=dict(
pts=dict(
assigner=[
dict( # for Pedestrian
type='Max3DIoUAssigner',
iou_calculator=dict(type='BboxOverlapsNearest3D'),
pos_iou_thr=0.35,
neg_iou_thr=0.2,
min_pos_iou=0.2,
ignore_iof_thr=-1),
dict( # for Cyclist
type='Max3DIoUAssigner',
iou_calculator=dict(type='BboxOverlapsNearest3D'),
pos_iou_thr=0.35,
neg_iou_thr=0.2,
min_pos_iou=0.2,
ignore_iof_thr=-1),
dict( # for Car
type='Max3DIoUAssigner',
iou_calculator=dict(type='BboxOverlapsNearest3D'),
pos_iou_thr=0.6,
neg_iou_thr=0.45,
min_pos_iou=0.45,
ignore_iof_thr=-1),
],
allowed_border=0,
pos_weight=-1,
debug=False)),
test_cfg=dict(
pts=dict(
use_rotate_nms=True,
nms_across_levels=False,
nms_thr=0.01,
score_thr=0.1,
min_bbox_size=0,
nms_pre=100,
max_num=50)))
# dataset settings
dataset_type = 'KittiDataset'
data_root = 'data/kitti/'
class_names = ['Pedestrian', 'Cyclist', 'Car']
metainfo = dict(classes=class_names)
input_modality = dict(use_lidar=True, use_camera=True)
train_pipeline = [
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(type='LoadImageFromFile'),
dict(type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True),
dict(
type='RandomResize', scale=[(640, 192), (2560, 768)], keep_ratio=True),
dict(
type='GlobalRotScaleTrans',
rot_range=[-0.78539816, 0.78539816],
scale_ratio_range=[0.95, 1.05],
translation_std=[0.2, 0.2, 0.2]),
dict(type='RandomFlip3D', flip_ratio_bev_horizontal=0.5),
dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
dict(type='ObjectRangeFilter', point_cloud_range=point_cloud_range),
dict(type='PointShuffle'),
dict(
type='Pack3DDetInputs',
keys=[
'points', 'img', 'gt_bboxes_3d', 'gt_labels_3d', 'gt_bboxes',
'gt_labels'
])
]
test_pipeline = [
dict(type='LoadPointsFromFile', coord_type='LIDAR', load_dim=4, use_dim=4),
dict(type='LoadImageFromFile'),
dict(
type='MultiScaleFlipAug3D',
img_scale=(1280, 384),
pts_scale_ratio=1,
flip=False,
transforms=[
# Temporary solution, fix this after refactor the augtest
dict(type='Resize', scale=0, keep_ratio=True),
dict(
type='GlobalRotScaleTrans',
rot_range=[0, 0],
scale_ratio_range=[1., 1.],
translation_std=[0, 0, 0]),
dict(type='RandomFlip3D'),
dict(
type='PointsRangeFilter', point_cloud_range=point_cloud_range),
]),
dict(type='Pack3DDetInputs', keys=['points', 'img'])
]
modality = dict(use_lidar=True, use_camera=True)
train_dataloader = dict(
batch_size=2,
num_workers=2,
sampler=dict(type='DefaultSampler', shuffle=True),
dataset=dict(
type='RepeatDataset',
times=2,
dataset=dict(
type=dataset_type,
data_root=data_root,
modality=modality,
ann_file='kitti_infos_train.pkl',
data_prefix=dict(
pts='training/velodyne_reduced', img='training/image_2'),
pipeline=train_pipeline,
filter_empty_gt=False,
metainfo=metainfo,
# we use box_type_3d='LiDAR' in kitti and nuscenes dataset
# and box_type_3d='Depth' in sunrgbd and scannet dataset.
box_type_3d='LiDAR')))
val_dataloader = dict(
batch_size=1,
num_workers=1,
sampler=dict(type='DefaultSampler', shuffle=False),
dataset=dict(
type=dataset_type,
data_root=data_root,
modality=modality,
ann_file='kitti_infos_val.pkl',
data_prefix=dict(
pts='training/velodyne_reduced', img='training/image_2'),
pipeline=test_pipeline,
metainfo=metainfo,
test_mode=True,
box_type_3d='LiDAR'))
test_dataloader = dict(
batch_size=1,
num_workers=1,
sampler=dict(type='DefaultSampler', shuffle=False),
dataset=dict(
type=dataset_type,
data_root=data_root,
ann_file='kitti_infos_val.pkl',
modality=modality,
data_prefix=dict(
pts='training/velodyne_reduced', img='training/image_2'),
pipeline=test_pipeline,
metainfo=metainfo,
test_mode=True,
box_type_3d='LiDAR'))
optim_wrapper = dict(
optimizer=dict(weight_decay=0.01),
clip_grad=dict(max_norm=35, norm_type=2),
)
val_evaluator = dict(
type='KittiMetric', ann_file='data/kitti/kitti_infos_val.pkl')
test_evaluator = val_evaluator
# You may need to download the model first is the network is unstable
load_from = 'https://download.openmmlab.com/mmdetection3d/pretrain_models/mvx_faster_rcnn_detectron2-caffe_20e_coco-pretrain_gt-sample_kitti-3-class_moderate-79.3_20200207-a4a6a3c7.pth' # noqa