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| Original file line number | Diff line number | Diff line change |
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| CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer', | ||
| 'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone'] | ||
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| DATA_CONFIG: | ||
| _BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml | ||
| POINT_CLOUD_RANGE: [-54.0, -54.0, -5.0, 54.0, 54.0, 3.0] | ||
| CAMERA_CONFIG: | ||
| USE_CAMERA: True | ||
| IMAGE: | ||
| FINAL_DIM: [256,704] | ||
| RESIZE_LIM_TRAIN: [0.38, 0.55] | ||
| RESIZE_LIM_TEST: [0.48, 0.48] | ||
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| DATA_AUGMENTOR: | ||
| DISABLE_AUG_LIST: ['placeholder'] | ||
| AUG_CONFIG_LIST: | ||
| - NAME: random_world_flip | ||
| ALONG_AXIS_LIST: ['x', 'y'] | ||
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| - NAME: random_world_rotation | ||
| WORLD_ROT_ANGLE: [-0.78539816, 0.78539816] | ||
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| - NAME: random_world_scaling | ||
| WORLD_SCALE_RANGE: [0.9, 1.1] | ||
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| - NAME: random_world_translation | ||
| NOISE_TRANSLATE_STD: [0.5, 0.5, 0.5] | ||
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| - NAME: imgaug | ||
| ROT_LIM: [-5.4, 5.4] | ||
| RAND_FLIP: True | ||
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| DATA_PROCESSOR: | ||
| - NAME: mask_points_and_boxes_outside_range | ||
| REMOVE_OUTSIDE_BOXES: True | ||
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| - NAME: shuffle_points | ||
| SHUFFLE_ENABLED: { | ||
| 'train': True, | ||
| 'test': True | ||
| } | ||
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| - NAME: transform_points_to_voxels | ||
| VOXEL_SIZE: [0.075, 0.075, 0.2] | ||
| MAX_POINTS_PER_VOXEL: 10 | ||
| MAX_NUMBER_OF_VOXELS: { | ||
| 'train': 120000, | ||
| 'test': 160000 | ||
| } | ||
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| - NAME: image_calibrate | ||
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| - NAME: image_normalize | ||
| mean: [0.485, 0.456, 0.406] | ||
| std: [0.229, 0.224, 0.225] | ||
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| MODEL: | ||
| NAME: BevFusion | ||
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| VFE: | ||
| NAME: MeanVFE | ||
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| BACKBONE_3D: | ||
| NAME: VoxelResBackBone8x | ||
| USE_BIAS: False | ||
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| MAP_TO_BEV: | ||
| NAME: HeightCompression | ||
| NUM_BEV_FEATURES: 256 | ||
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| IMAGE_BACKBONE: | ||
| NAME: SwinTransformer | ||
| EMBED_DIMS: 96 | ||
| DEPTHS: [2, 2, 6, 2] | ||
| NUM_HEADS: [3, 6, 12, 24] | ||
| WINDOW_SIZE: 7 | ||
| MLP_RATIO: 4 | ||
| DROP_RATE: 0. | ||
| ATTN_DROP_RATE: 0. | ||
| DROP_PATH_RATE: 0.2 | ||
| PATCH_NORM: True | ||
| OUT_INDICES: [1, 2, 3] | ||
| WITH_CP: False | ||
| CONVERT_WEIGHTS: True | ||
| INIT_CFG: | ||
| type: Pretrained | ||
| checkpoint: swint-nuimages-pretrained.pth | ||
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| NECK: | ||
| NAME: GeneralizedLSSFPN | ||
| IN_CHANNELS: [192, 384, 768] | ||
| OUT_CHANNELS: 256 | ||
| START_LEVEL: 0 | ||
| END_LEVEL: -1 | ||
| NUM_OUTS: 3 | ||
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| VTRANSFORM: | ||
| NAME: DepthLSSTransform | ||
| IMAGE_SIZE: [256, 704] | ||
| IN_CHANNEL: 256 | ||
| OUT_CHANNEL: 80 | ||
| FEATURE_SIZE: [32, 88] | ||
| XBOUND: [-54.0, 54.0, 0.3] | ||
| YBOUND: [-54.0, 54.0, 0.3] | ||
| ZBOUND: [-10.0, 10.0, 20.0] | ||
| DBOUND: [1.0, 60.0, 0.5] | ||
| DOWNSAMPLE: 2 | ||
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| FUSER: | ||
| NAME: ConvFuser | ||
| IN_CHANNEL: 336 | ||
| OUT_CHANNEL: 256 | ||
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| 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] | ||
| USE_CONV_FOR_NO_STRIDE: True | ||
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| DENSE_HEAD: | ||
| CLASS_AGNOSTIC: False | ||
| NAME: TransFusionHead | ||
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| USE_BIAS_BEFORE_NORM: False | ||
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| NUM_PROPOSALS: 200 | ||
| HIDDEN_CHANNEL: 128 | ||
| NUM_CLASSES: 10 | ||
| NUM_HEADS: 8 | ||
| NMS_KERNEL_SIZE: 3 | ||
| FFN_CHANNEL: 256 | ||
| DROPOUT: 0.1 | ||
| BN_MOMENTUM: 0.1 | ||
| ACTIVATION: relu | ||
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| NUM_HM_CONV: 2 | ||
| SEPARATE_HEAD_CFG: | ||
| HEAD_ORDER: ['center', 'height', 'dim', 'rot', 'vel'] | ||
| HEAD_DICT: { | ||
| 'center': {'out_channels': 2, 'num_conv': 2}, | ||
| 'height': {'out_channels': 1, 'num_conv': 2}, | ||
| 'dim': {'out_channels': 3, 'num_conv': 2}, | ||
| 'rot': {'out_channels': 2, 'num_conv': 2}, | ||
| 'vel': {'out_channels': 2, 'num_conv': 2}, | ||
| } | ||
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| TARGET_ASSIGNER_CONFIG: | ||
| FEATURE_MAP_STRIDE: 8 | ||
| DATASET: nuScenes | ||
| GAUSSIAN_OVERLAP: 0.1 | ||
| MIN_RADIUS: 2 | ||
| HUNGARIAN_ASSIGNER: | ||
| cls_cost: {'gamma': 2.0, 'alpha': 0.25, 'weight': 0.15} | ||
| reg_cost: {'weight': 0.25} | ||
| iou_cost: {'weight': 0.25} | ||
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| LOSS_CONFIG: | ||
| LOSS_WEIGHTS: { | ||
| 'cls_weight': 1.0, | ||
| 'bbox_weight': 0.25, | ||
| 'hm_weight': 1.0, | ||
| 'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2] | ||
| } | ||
| LOSS_CLS: | ||
| use_sigmoid: True | ||
| gamma: 2.0 | ||
| alpha: 0.25 | ||
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| POST_PROCESSING: | ||
| SCORE_THRESH: 0.0 | ||
| POST_CENTER_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0] | ||
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| POST_PROCESSING: | ||
| RECALL_THRESH_LIST: [0.3, 0.5, 0.7] | ||
| SCORE_THRESH: 0.1 | ||
| OUTPUT_RAW_SCORE: False | ||
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| EVAL_METRIC: kitti | ||
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| OPTIMIZATION: | ||
| BATCH_SIZE_PER_GPU: 3 | ||
| NUM_EPOCHS: 6 | ||
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| OPTIMIZER: adam_cosineanneal | ||
| LR: 0.0001 | ||
| WEIGHT_DECAY: 0.01 | ||
| MOMENTUM: 0.9 | ||
| BETAS: [0.9, 0.999] | ||
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| MOMS: [0.9, 0.8052631] | ||
| PCT_START: 0.4 | ||
| WARMUP_ITER: 500 | ||
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| DECAY_STEP_LIST: [35, 45] | ||
| LR_WARMUP: False | ||
| WARMUP_EPOCH: 1 | ||
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| GRAD_NORM_CLIP: 35 | ||
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| LOSS_SCALE_FP16: 32 | ||
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