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bevf_pp_2x8_1x_nusc.py
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bevf_pp_2x8_1x_nusc.py
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# _base_未使用
_base_ = [
'../_base_/datasets/nusc_pp.py',
'../_base_/schedules/schedule_1x.py',
'../_base_/default_runtime.py'
]
# import torch.distributed.launch
final_dim=(900, 1600) # H x W
downsample=8
voxel_size = [0.25, 0.25, 8]
imc=256
model = dict(
type='BEVF_FasterRCNN',
freeze_img=True,
se=True,
lc_fusion=True,
camera_stream=True,
grid=0.5,
num_views=6,
final_dim=final_dim,
downsample=downsample,
imc=imc,
pts_voxel_layer=dict(
max_num_points=64,
point_cloud_range=[-50, -50, -5, 50, 50, 3],
voxel_size=voxel_size,
max_voxels=(30000, 40000)),
pts_voxel_encoder=dict(
type='HardVFE',
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=[-50, -50, -5, 50, 50, 3],
norm_cfg=dict(type='naiveSyncBN1d', eps=1e-3, momentum=0.01)),
pts_middle_encoder=dict(
type='PointPillarsScatter', in_channels=64, output_shape=[400, 400]),
pts_backbone=dict(
type='SECOND',
in_channels=64,
norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01),
layer_nums=[3, 5, 5],
layer_strides=[2, 2, 2],
out_channels=[64, 128, 256]),
pts_neck=dict(
type='SECONDFPN',
norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01),
in_channels=[64, 128, 256],
upsample_strides=[1, 2, 4],
out_channels=[128, 128, 128]),
img_backbone=dict(
type='CBSwinTransformer',
embed_dim=96,
depths=[2, 2, 6, 2],
num_heads=[3, 6, 12, 24],
window_size=7,
mlp_ratio=4.,
qkv_bias=True,
qk_scale=None,
drop_rate=0.,
attn_drop_rate=0.,
drop_path_rate=0.2,
ape=False,
patch_norm=True,
out_indices=(0, 1, 2, 3),
use_checkpoint=False),
img_neck=dict(
type='FPNC',
final_dim=final_dim,
downsample=downsample,
in_channels=[96, 192, 384, 768],
out_channels=256,
outC=imc,
use_adp=True,
num_outs=5),
pts_bbox_head=dict(
type='Anchor3DHead',
num_classes=10,
in_channels=384,
feat_channels=384,
use_direction_classifier=True,
anchor_generator=dict(
type='AlignedAnchor3DRangeGenerator',
ranges=[
[-49.6, -49.6, -1.80032795, 49.6, 49.6, -1.80032795],
[-49.6, -49.6, -1.74440365, 49.6, 49.6, -1.74440365],
[-49.6, -49.6, -1.68526504, 49.6, 49.6, -1.68526504],
[-49.6, -49.6, -1.67339111, 49.6, 49.6, -1.67339111],
[-49.6, -49.6, -1.61785072, 49.6, 49.6, -1.61785072],
[-49.6, -49.6, -1.80984986, 49.6, 49.6, -1.80984986],
[-49.6, -49.6, -1.763965, 49.6, 49.6, -1.763965],
],
sizes=[
[1.95017717, 4.60718145, 1.72270761], # car
[2.4560939, 6.73778078, 2.73004906], # truck
[2.87427237, 12.01320693, 3.81509561], # trailer
[0.60058911, 1.68452161, 1.27192197], # bicycle
[0.66344886, 0.7256437, 1.75748069], # pedestrian
[0.39694519, 0.40359262, 1.06232151], # traffic_cone
[2.49008838, 0.48578221, 0.98297065], # barrier
],
custom_values=[0, 0],
rotations=[0, 1.57],
reshape_out=True),
assigner_per_size=False,
diff_rad_by_sin=True,
dir_offset=0.7854, # pi/4
dir_limit_offset=0,
bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder', code_size=9),
loss_cls=dict(
type='FocalLoss',
use_sigmoid=True,
gamma=2.0,
alpha=0.25,
loss_weight=1.0),
loss_bbox=dict(type='SmoothL1Loss', beta=1.0 / 9.0, loss_weight=1.0),
loss_dir=dict(
type='CrossEntropyLoss', use_sigmoid=False, loss_weight=0.2)),
# model training and testing settings
train_cfg=dict(
pts=dict(
assigner=dict(
type='MaxIoUAssigner',
iou_calculator=dict(type='BboxOverlapsNearest3D'),
pos_iou_thr=0.6,
neg_iou_thr=0.3,
min_pos_iou=0.3,
ignore_iof_thr=-1),
allowed_border=0,
code_weight=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2],
pos_weight=-1,
debug=False)),
test_cfg=dict(
pts=dict(
use_rotate_nms=True,
nms_across_levels=False,
nms_pre=1000,
nms_thr=0.2,
score_thr=0.05,
min_bbox_size=0,
max_num=500)))
data = dict(
samples_per_gpu=2,
workers_per_gpu=6,)
optimizer = dict(type='AdamW', lr=0.001, betas=(0.9, 0.999), weight_decay=0.05,
paramwise_cfg=dict(custom_keys={'absolute_pos_embed': dict(decay_mult=0.),
'relative_position_bias_table': dict(decay_mult=0.),
'norm': dict(decay_mult=0.)}))
load_lift_from = 'work_dirs/bevf_pp_4x8_2x_nusc_cam/epoch_24.pth' #####load cam stream
load_from = 'work_dirs/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/epoch_24.pth' #####load lidar stream