centerpoint_pillar_1x.yaml

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

DATA_CONFIG:
    _BASE_CONFIG_: cfgs/dataset_configs/waymo_dataset.yaml

    POINT_CLOUD_RANGE: [-74.88, -74.88, -2, 74.88, 74.88, 4.0]
    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
            VOXEL_SIZE: [ 0.32, 0.32, 6.0 ]
            MAX_POINTS_PER_VOXEL: 20
            MAX_NUMBER_OF_VOXELS: {
                'train': 150000,
                'test': 150000
            }


MODEL:
    NAME: CenterPoint

    VFE:
        NAME: PillarVFE
        WITH_DISTANCE: False
        USE_ABSLOTE_XYZ: True
        USE_NORM: True
        NUM_FILTERS: [ 64, 64 ]

    MAP_TO_BEV:
        NAME: PointPillarScatter
        NUM_BEV_FEATURES: 64

    BACKBONE_2D:
        NAME: BaseBEVBackbone
        LAYER_NUMS: [ 3, 5, 5 ]
        LAYER_STRIDES: [ 1, 2, 2 ]
        NUM_FILTERS: [ 64, 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: 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: 1
            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: [-80, -80, -10.0, 80, 80, 10.0]
            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


OPTIMIZATION:
    BATCH_SIZE_PER_GPU: 6
    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