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v2x_pointpillar_disco.yaml
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v2x_pointpillar_disco.yaml
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CLASS_NAMES: ['car']
DATA_CONFIG:
_BASE_CONFIG_: ../tools/cfgs/dataset_configs/v2x_sim_dataset_ego_early.yaml
DATASET: 'V2XSimDataset_EGO_DISCO'
DATASET_DOWNSAMPLING_RATIO: 2
POINTS_IN_BOXES_GPU: True
EXCHANGE_DATABASE_DIRECTORY: exchange_database_flow
USE_GT_FROM_EVERY_AGENT: True
EVAL_FILTER_GT_BEYOND_RANGE: 60.
EXCHANGE_PREVIOUS: True
POINT_FEATURE_ENCODING: {
encoding_type: absolute_coordinates_encoding,
used_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp', 'agent_idx'],
src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp', 'agent_idx'],
}
DATA_PROCESSOR:
- NAME: shuffle_points
SHUFFLE_ENABLED: {
'train': True,
'test': True
}
- NAME: transform_points_to_voxels_placeholder
VOXEL_SIZE: [0.2, 0.2, 8.0]
MODEL:
NAME: CenterPoint
BEV_MAKER_RSU:
DEBUG: False
CKPT: ../tools/pretrained_models/v2x_pointpillar_basic_rsu_ep20.pth
MAKER_TYPE: 'rsu'
VFE:
NAME: DynPillarVFE
NUM_RAW_POINT_FEATURES: 5
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:
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [3, 5, 5]
LAYER_STRIDES: [2, 2, 2]
NUM_FILTERS: [64, 128, 256]
UPSAMPLE_STRIDES: [0.5, 1, 2]
NUM_UPSAMPLE_FILTERS: [128, 128, 128]
BEV_MAKER_CAR:
DEBUG: False
CKPT: ../tools/pretrained_models/v2x_pointpillar_basic_car_ep19.pth
MAKER_TYPE: 'car'
VFE:
NAME: DynPillarVFE
NUM_RAW_POINT_FEATURES: 5
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:
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [3, 5, 5]
LAYER_STRIDES: [2, 2, 2]
NUM_FILTERS: [64, 128, 128]
UPSAMPLE_STRIDES: [0.5, 1, 2]
NUM_UPSAMPLE_FILTERS: [128, 128, 128]
BEV_MAKER_EARLY:
CKPT: ./pretrained_models/v2x_pointpillar_basic_early_ep20_fullgt.pth
MAKER_TYPE: 'early'
VFE:
NAME: DynPillarVFE
NUM_RAW_POINT_FEATURES: 5
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:
BACKBONE_2D:
NAME: BaseBEVBackbone
LAYER_NUMS: [3, 5, 5]
LAYER_STRIDES: [2, 2, 2]
NUM_FILTERS: [64, 128, 256]
UPSAMPLE_STRIDES: [0.5, 1, 2]
NUM_UPSAMPLE_FILTERS: [128, 128, 128]
VFE:
NAME: DynPillarVFE
NUM_RAW_POINT_FEATURES: 5
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: [2, 2, 2]
NUM_FILTERS: [64, 128, 128]
UPSAMPLE_STRIDES: [0.5, 1, 2]
NUM_UPSAMPLE_FILTERS: [128, 128, 128]
V2X_MID_FUSION:
DEBUG: False
NAME: DISCO
COMPRESSED_CHANNELS: 128
DENSE_HEAD:
NAME: CenterHead
CLASS_AGNOSTIC: False
CLASS_NAMES_EACH_HEAD: [
['car']
]
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: 4
NUM_MAX_OBJS: 500
GAUSSIAN_OVERLAP: 0.1
MIN_RADIUS: 2
LOSS_CONFIG:
LOSS_WEIGHTS: {
'cls_weight': 1.0,
'loc_weight': 0.25,
'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
}
POST_PROCESSING:
CALIB_CLS_SCORE: False
CALIB_CLS_SCORE_ALPHA: 0.5
SCORE_THRESH: 0.1
POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
MAX_OBJ_PER_SAMPLE: 500
NMS_CONFIG:
NMS_TYPE: nms_gpu
NMS_THRESH: 0.2
NMS_PRE_MAXSIZE: 1000
NMS_POST_MAXSIZE: 83
POST_PROCESSING:
RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
EVAL_METRIC: nuscenes
OPTIMIZATION:
BATCH_SIZE_PER_GPU: 4
NUM_EPOCHS: 20
OPTIMIZER: adam_onecycle
LR: 0.00051
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