|
_target_: det_map.det.det_agent.DetAgent
|
|
_convert_: 'all'
|
|
|
|
is_train: &is_train
|
|
is_train: True
|
|
|
|
ranges: &ranges
|
|
x_range: (-54.0, 54.0)
|
|
y_range: (-54.0, 54.0)
|
|
z_range: (-10.0, 10.0)
|
|
|
|
point_cloud_range: &point_cloud_range
|
|
point_cloud_range: [ -54.0, -54.0, -10.0, 54.0, 54.0, 10.0 ]
|
|
voxel_size: &voxel_size
|
|
voxel_size: [0.075, 0.075, 0.2]
|
|
|
|
|
|
grid_config: &grid_config
|
|
grid_config:
|
|
x: (-54.0, 54.0, 0.6)
|
|
y: (-54.0, 54.0, 0.6)
|
|
z: (-10.0, 10.0, 20.0)
|
|
depth: (1.0, 60.0, 0.5)
|
|
|
|
model:
|
|
_target_: det_map.det.dal.dal.DAL
|
|
_convert_: 'all'
|
|
use_grid_mask: true
|
|
pts_voxel_layer:
|
|
max_num_points: 10
|
|
<<: *voxel_size
|
|
<<: *point_cloud_range
|
|
max_voxels: [ 120000, 160000 ]
|
|
pts_voxel_encoder:
|
|
type: HardSimpleVFE
|
|
num_features: 5
|
|
pts_middle_encoder:
|
|
type: SparseEncoder
|
|
in_channels: 5
|
|
base_channels: 24
|
|
sparse_shape: [ 41, 1440, 1440 ]
|
|
output_channels: 192
|
|
order: [ 'conv', 'norm', 'act' ]
|
|
encoder_channels: ((24, 24, 48), (48, 48, 96), (96, 96, 192), (192, 192))
|
|
encoder_paddings: ((0, 0, 1), (0, 0, 1), (0, 0, [0, 1, 1]), (0, 0))
|
|
block_type: basicblock
|
|
pts_backbone:
|
|
type: SECOND
|
|
in_channels: 384
|
|
out_channels: [ 192, 384 ]
|
|
layer_nums: [ 8, 8 ]
|
|
layer_strides: [ 1, 2 ]
|
|
norm_cfg:
|
|
type: BN
|
|
eps: 1e-3
|
|
momentum: 0.01
|
|
conv_cfg:
|
|
type: Conv2d
|
|
bias: false
|
|
pts_neck:
|
|
type: SECONDFPN
|
|
in_channels: [ 192, 384 ]
|
|
out_channels: [ 256, 256 ]
|
|
upsample_strides: [ 1, 2 ]
|
|
norm_cfg:
|
|
type: BN
|
|
eps: 1e-3
|
|
momentum: 0.01
|
|
upsample_cfg:
|
|
type: deconv
|
|
bias: false
|
|
use_conv_for_no_stride: true
|
|
img_backbone:
|
|
pretrained: 'torchvision://resnet18'
|
|
type: ResNet
|
|
depth: 18
|
|
num_stages: 4
|
|
out_indices: [ 1, 2, 3 ]
|
|
frozen_stages: -1
|
|
norm_cfg:
|
|
type: BN
|
|
requires_grad: true
|
|
norm_eval: false
|
|
with_cp: false
|
|
style: pytorch
|
|
img_neck:
|
|
type: CustomFPN
|
|
in_channels: [ 128, 256, 512 ]
|
|
out_channels: img_feat_dim
|
|
num_outs: 1
|
|
start_level: 0
|
|
out_ids: [ 0 ]
|
|
img_view_transformer:
|
|
type: LSSViewTransformer
|
|
<<: *grid_config
|
|
input_size: data_config['input_size']
|
|
in_channels: img_feat_dim
|
|
out_channels: feat_bev_img_dim
|
|
downsample: 8
|
|
with_depth_from_lidar: true
|
|
pts_bbox_head:
|
|
type: DALHead
|
|
feat_bev_img_dim: feat_bev_img_dim
|
|
img_feat_dim: img_feat_dim
|
|
sparse_fuse_layers: 2
|
|
dense_fuse_layers: 2
|
|
instance_attn: false
|
|
num_proposals: 200
|
|
in_channels: 512
|
|
hidden_channel: 128
|
|
num_classes: 10
|
|
num_decoder_layers: 1
|
|
num_heads: 8
|
|
nms_kernel_size: 3
|
|
ffn_channel: 256
|
|
dropout: 0.1
|
|
bn_momentum: 0.1
|
|
activation: relu
|
|
auxiliary: true
|
|
common_heads:
|
|
center: [ 2, 2 ]
|
|
height: [ 1, 2 ]
|
|
dim: [ 3, 2 ]
|
|
rot: [ 2, 2 ]
|
|
vel: [ 2, 2 ]
|
|
bbox_coder:
|
|
type: TransFusionBBoxCoder
|
|
pc_range: point_cloud_range[:2]
|
|
post_center_range: [ -61.2, -61.2, -10.0, 61.2, 61.2, 10.0 ]
|
|
score_threshold: 0.0
|
|
out_size_factor: 8
|
|
voxel_size: voxel_size[:2]
|
|
code_size: 10
|
|
loss_cls:
|
|
type: FocalLoss
|
|
use_sigmoid: true
|
|
gamma: 2.0
|
|
alpha: 0.25
|
|
reduction: mean
|
|
loss_weight: 1.0
|
|
loss_heatmap:
|
|
type: GaussianFocalLoss
|
|
reduction: mean
|
|
|
|
pipelines:
|
|
lidar_filter:
|
|
_target_: det_map.data.pipelines.filter_lidar.LiDARFilter
|
|
_convert_: 'all'
|
|
close_radius: 1.0
|
|
<<: *ranges
|
|
|
|
|
|
point_shuffle:
|
|
_target_: det_map.data.pipelines.point_shuffle.PointShuffle
|
|
<<: *is_train
|
|
|
|
lidar_aug:
|
|
_target_: det_map.data.pipelines.lidar_aug.LiDARAug
|
|
bda_aug_conf:
|
|
rot_lim: (-22.5 * 2, 22.5 * 2)
|
|
scale_lim: (0.9, 1.1)
|
|
flip_dx_ratio: 0.5
|
|
flip_dy_ratio: 0.5
|
|
tran_lim: (0.5, 0.5, 0.5)
|
|
<<: *ranges
|
|
|
|
<<: *is_train
|
|
|
|
depth:
|
|
_target_: det_map.data.pipelines.prepare_depth.LiDAR2Depth
|
|
<<: *grid_config
|
|
|
|
img:
|
|
_target_: det_map.data.pipelines.prepare_img.PrepareImageInputs
|
|
_convert_: 'all'
|
|
opencv_pp: True
|
|
|
|
<<: *is_train
|
|
data_config:
|
|
input_size: (256, 704)
|
|
src_size: (900, 1600)
|
|
|
|
resize: (-0.06, 0.44)
|
|
rot: (-5.4, 5.4)
|
|
flip: True
|
|
crop_h: (0.0, 0.0)
|
|
random_crop_height: True
|
|
vflip: True
|
|
resize_test: 0.04
|
|
pmd:
|
|
brightness_delta: 32
|
|
contrast_lower: 0.5
|
|
contrast_upper: 1.5
|
|
saturation_lower: 0.5
|
|
saturation_upper: 1.5
|
|
hue_delta: 18
|
|
rate: 0.5
|
|
|
|
|
|
<<: *is_train
|
|
checkpoint_path: null
|
|
hidden_layer_dim: 512
|
|
lr: 1e-4 |
