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pretrain_large_50ep.yaml
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checkpoint_config:
interval: 1
max_keep_ckpts: 1
cudnn_benchmark: false
data:
samples_per_gpu: 2
test:
ann_file: data/nuscenes/nuscenes_infos_val.pkl
box_type_3d: LiDAR
dataset_root: data/nuscenes/
map_classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
modality:
use_camera: true
use_external: false
use_lidar: true
use_map: false
use_radar: false
object_classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
pipeline:
- to_float32: true
type: LoadMultiViewImageFromFiles
- coord_type: LIDAR
load_augmented: null
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
- load_augmented: null
load_dim: 5
pad_empty_sweeps: true
reduce_beams: 32
remove_close: true
sweeps_num: 9
type: LoadPointsFromMultiSweeps
use_dim: 5
- type: LoadAnnotations3D
with_attr_label: false
with_bbox_3d: true
with_label_3d: true
- bot_pct_lim:
- 0.0
- 0.0
final_dim:
- 256
- 704
is_train: false
rand_flip: false
resize_lim:
- 0.48
- 0.48
rot_lim:
- 0.0
- 0.0
type: ImageAug3D
- is_train: false
resize_lim:
- 1.0
- 1.0
rot_lim:
- 0.0
- 0.0
trans_lim: 0.0
type: GlobalRotScaleTrans
- classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
dataset_root: data/nuscenes/
type: LoadBEVSegmentation
xbound:
- -50.0
- 50.0
- 0.5
ybound:
- -50.0
- 50.0
- 0.5
- point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
type: PointsRangeFilter
- mean:
- 0.485
- 0.456
- 0.406
std:
- 0.229
- 0.224
- 0.225
type: ImageNormalize
- classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
type: DefaultFormatBundle3D
- keys:
- img
- points
- gt_bboxes_3d
- gt_labels_3d
- gt_masks_bev
meta_keys:
- camera_intrinsics
- camera2ego
- lidar2ego
- lidar2camera
- camera2lidar
- lidar2image
- img_aug_matrix
- lidar_aug_matrix
type: Collect3D
test_mode: true
type: NuScenesDataset
train:
dataset:
ann_file: data/nuscenes/nuscenes_infos_train.pkl
box_type_3d: LiDAR
dataset_root: data/nuscenes/
map_classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
modality:
use_camera: true
use_external: false
use_lidar: true
use_map: false
use_radar: false
object_classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
pipeline:
- to_float32: true
type: LoadMultiViewImageFromFiles
- coord_type: LIDAR
load_augmented: null
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
- load_augmented: null
load_dim: 5
pad_empty_sweeps: true
reduce_beams: 32
remove_close: true
sweeps_num: 9
type: LoadPointsFromMultiSweeps
use_dim: 5
- type: LoadAnnotations3D
with_attr_label: false
with_bbox_3d: true
with_label_3d: true
- db_sampler:
classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
dataset_root: data/nuscenes/
info_path: data/nuscenes/nuscenes_dbinfos_train.pkl
points_loader:
coord_type: LIDAR
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
prepare:
filter_by_difficulty:
- -1
filter_by_min_points:
barrier: 5
bicycle: 5
bus: 5
car: 5
construction_vehicle: 5
motorcycle: 5
pedestrian: 5
traffic_cone: 5
trailer: 5
truck: 5
rate: 1.0
sample_groups:
barrier: 2
bicycle: 6
bus: 4
car: 2
construction_vehicle: 7
motorcycle: 6
pedestrian: 2
traffic_cone: 2
trailer: 6
truck: 3
stop_epoch: -1
type: ObjectPaste
- bot_pct_lim:
- 0.0
- 0.0
final_dim:
- 256
- 704
is_train: true
rand_flip: true
resize_lim:
- 0.38
- 0.55
rot_lim:
- -5.4
- 5.4
type: ImageAug3D
- is_train: false
resize_lim:
- 1.0
- 1.0
rot_lim:
- 0.0
- 0.0
trans_lim: 0.0
type: GlobalRotScaleTrans
- classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
dataset_root: data/nuscenes/
type: LoadBEVSegmentation
xbound:
- -50.0
- 50.0
- 0.5
ybound:
- -50.0
- 50.0
- 0.5
- type: RandomFlip3D
- point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
type: PointsRangeFilter
- point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
type: ObjectRangeFilter
- classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
type: ObjectNameFilter
- mean:
- 0.485
- 0.456
- 0.406
std:
- 0.229
- 0.224
- 0.225
type: ImageNormalize
- fixed_prob: true
max_epoch: 50
mode: 1
offset: false
prob: 0.0
ratio: 0.5
rotate: 1
type: GridMask
use_h: true
use_w: true
- classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
type: DefaultFormatBundle3D
- keys:
- img
- points
- gt_bboxes_3d
- gt_labels_3d
- gt_masks_bev
meta_keys:
- camera_intrinsics
- camera2ego
- lidar2ego
- lidar2camera
- camera2lidar
- lidar2image
- img_aug_matrix
- lidar_aug_matrix
type: Collect3D
test_mode: false
type: NuScenesDataset
use_valid_flag: true
type: CBGSDataset
val:
ann_file: data/nuscenes/nuscenes_infos_val.pkl
box_type_3d: LiDAR
dataset_root: data/nuscenes/
map_classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
modality:
use_camera: true
use_external: false
use_lidar: true
use_map: false
use_radar: false
object_classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
pipeline:
- to_float32: true
type: LoadMultiViewImageFromFiles
- coord_type: LIDAR
load_augmented: null
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
- load_augmented: null
load_dim: 5
pad_empty_sweeps: true
reduce_beams: 32
remove_close: true
sweeps_num: 9
type: LoadPointsFromMultiSweeps
use_dim: 5
- type: LoadAnnotations3D
with_attr_label: false
with_bbox_3d: true
with_label_3d: true
- bot_pct_lim:
- 0.0
- 0.0
final_dim:
- 256
- 704
is_train: false
rand_flip: false
resize_lim:
- 0.48
- 0.48
rot_lim:
- 0.0
- 0.0
type: ImageAug3D
- is_train: false
resize_lim:
- 1.0
- 1.0
rot_lim:
- 0.0
- 0.0
trans_lim: 0.0
type: GlobalRotScaleTrans
- classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
dataset_root: data/nuscenes/
type: LoadBEVSegmentation
xbound:
- -50.0
- 50.0
- 0.5
ybound:
- -50.0
- 50.0
- 0.5
- point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
type: PointsRangeFilter
- mean:
- 0.485
- 0.456
- 0.406
std:
- 0.229
- 0.224
- 0.225
type: ImageNormalize
- classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
type: DefaultFormatBundle3D
- keys:
- img
- points
- gt_bboxes_3d
- gt_labels_3d
- gt_masks_bev
meta_keys:
- camera_intrinsics
- camera2ego
- lidar2ego
- lidar2camera
- camera2lidar
- lidar2image
- img_aug_matrix
- lidar_aug_matrix
type: Collect3D
test_mode: false
type: NuScenesDataset
workers_per_gpu: 2
dataset_root: data/nuscenes/
dataset_type: NuScenesDataset
deterministic: false
evaluation:
interval: 1000
pipeline:
- to_float32: true
type: LoadMultiViewImageFromFiles
- coord_type: LIDAR
load_augmented: null
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
- load_augmented: null
load_dim: 5
pad_empty_sweeps: true
reduce_beams: 32
remove_close: true
sweeps_num: 9
type: LoadPointsFromMultiSweeps
use_dim: 5
- type: LoadAnnotations3D
with_attr_label: false
with_bbox_3d: true
with_label_3d: true
- bot_pct_lim:
- 0.0
- 0.0
final_dim:
- 256
- 704
is_train: false
rand_flip: false
resize_lim:
- 0.48
- 0.48
rot_lim:
- 0.0
- 0.0
type: ImageAug3D
- is_train: false
resize_lim:
- 1.0
- 1.0
rot_lim:
- 0.0
- 0.0
trans_lim: 0.0
type: GlobalRotScaleTrans
- classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
dataset_root: data/nuscenes/
type: LoadBEVSegmentation
xbound:
- -50.0
- 50.0
- 0.5
ybound:
- -50.0
- 50.0
- 0.5
- point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
type: PointsRangeFilter
- mean:
- 0.485
- 0.456
- 0.406
std:
- 0.229
- 0.224
- 0.225
type: ImageNormalize
- classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
type: DefaultFormatBundle3D
- keys:
- img
- points
- gt_bboxes_3d
- gt_labels_3d
- gt_masks_bev
meta_keys:
- camera_intrinsics
- camera2ego
- lidar2ego
- lidar2camera
- camera2lidar
- lidar2image
- img_aug_matrix
- lidar_aug_matrix
type: Collect3D
fp16: null
gt_paste_stop_epoch: -1
image_size:
- 256
- 704
input_modality:
use_camera: true
use_external: false
use_lidar: true
use_map: false
use_radar: false
load_augmented: null
load_dim: 5
resume_from: null
load_from: /path/to/lidar-only-det.pth
log_config:
hooks:
- type: TextLoggerHook
- type: TensorboardLoggerHook
interval: 50
lr_config:
min_lr_ratio: 0.001
policy: CosineAnnealing
warmup: linear
warmup_iters: 500
warmup_ratio: 0.33333333
map_classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
max_epochs: 50
model:
encoders:
camera:
backbone:
attn_drop_rate: 0.0
convert_weights: true
depths:
- 2
- 2
- 18
- 2
drop_path_rate: 0.0
drop_rate: 0.0
embed_dims: 192
init_cfg:
checkpoint: /path/to/mixmae_large_600ep.pth
type: Pretrained
mlp_ratio: 4
num_heads:
- 6
- 12
- 24
- 48
out_indices:
- 2
- 3
patch_norm: true
qk_scale: null
qkv_bias: true
type: SwinTransformerBEV
with_cp: false
vtransform:
ret_depth: true
stride: 16
dbound:
- 1.0
- 60.0
- 0.5
downsample: 2
feature_size:
- 16
- 44
image_size:
- 256
- 704
in_channels: 512
out_channels: 80
type: DepthLSSTransformGT
xbound:
- -54.0
- 54.0
- 0.3
ybound:
- -54.0
- 54.0
- 0.3
zbound:
- -10.0
- 10.0
- 20.0
lidar:
backbone:
block_type: basicblock
encoder_channels:
- - 16
- 16
- 32
- - 32
- 32
- 64
- - 64
- 64
- 128
- - 128
- 128
encoder_paddings:
- - 0
- 0
- 1
- - 0
- 0
- 1
- - 0
- 0
- - 1
- 1
- 0
- - 0
- 0
in_channels: 5
order:
- conv
- norm
- act
output_channels: 128
sparse_shape:
- 1440
- 1440
- 41
type: SparseEncoder
voxelize:
max_num_points: 10
max_voxels:
- 120000
- 160000
point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
voxel_size:
- 0.075
- 0.075
- 0.2
type: BEVFusionGeoMIM
momentum_config:
policy: cyclic
object_classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
optimizer:
lr: 0.0002
type: AdamW
weight_decay: 0.01
optimizer_config:
grad_clip:
max_norm: 35
norm_type: 2
point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
reduce_beams: 32
run_dir: runs/pretrain_base
runner:
max_epochs: 50
type: CustomEpochBasedRunner
seed: 0
test_pipeline:
- to_float32: true
type: LoadMultiViewImageFromFiles
- coord_type: LIDAR
load_augmented: null
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
- load_augmented: null
load_dim: 5
pad_empty_sweeps: true
reduce_beams: 32
remove_close: true
sweeps_num: 9
type: LoadPointsFromMultiSweeps
use_dim: 5
- type: LoadAnnotations3D
with_attr_label: false
with_bbox_3d: true
with_label_3d: true
- bot_pct_lim:
- 0.0
- 0.0
final_dim:
- 256
- 704
is_train: false
rand_flip: false
resize_lim:
- 0.48
- 0.48
rot_lim:
- 0.0
- 0.0
type: ImageAug3D
- is_train: false
resize_lim:
- 1.0
- 1.0
rot_lim:
- 0.0
- 0.0
trans_lim: 0.0
type: GlobalRotScaleTrans
- classes:
- drivable_area
- ped_crossing
- walkway
- stop_line
- carpark_area
- divider
dataset_root: data/nuscenes/
type: LoadBEVSegmentation
xbound:
- -50.0
- 50.0
- 0.5
ybound:
- -50.0
- 50.0
- 0.5
- point_cloud_range:
- -54.0
- -54.0
- -5.0
- 54.0
- 54.0
- 3.0
type: PointsRangeFilter
- mean:
- 0.485
- 0.456
- 0.406
std:
- 0.229
- 0.224
- 0.225
type: ImageNormalize
- classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
type: DefaultFormatBundle3D
- keys:
- img
- points
- gt_bboxes_3d
- gt_labels_3d
- gt_masks_bev
meta_keys:
- camera_intrinsics
- camera2ego
- lidar2ego
- lidar2camera
- camera2lidar
- lidar2image
- img_aug_matrix
- lidar_aug_matrix
type: Collect3D
train_pipeline:
- to_float32: true
type: LoadMultiViewImageFromFiles
- coord_type: LIDAR
load_augmented: null
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
- load_augmented: null
load_dim: 5
pad_empty_sweeps: true
reduce_beams: 32
remove_close: true
sweeps_num: 9
type: LoadPointsFromMultiSweeps
use_dim: 5
- type: LoadAnnotations3D
with_attr_label: false
with_bbox_3d: true
with_label_3d: true
- db_sampler:
classes:
- car
- truck
- construction_vehicle
- bus
- trailer
- barrier
- motorcycle
- bicycle
- pedestrian
- traffic_cone
dataset_root: data/nuscenes/
info_path: data/nuscenes/nuscenes_dbinfos_train.pkl
points_loader:
coord_type: LIDAR
load_dim: 5
reduce_beams: 32
type: LoadPointsFromFile
use_dim: 5
prepare:
filter_by_difficulty:
- -1
filter_by_min_points:
barrier: 5
bicycle: 5
bus: 5
car: 5
construction_vehicle: 5
motorcycle: 5
pedestrian: 5
traffic_cone: 5
trailer: 5
truck: 5
rate: 1.0
sample_groups:
barrier: 2
bicycle: 6
bus: 4
car: 2
construction_vehicle: 7
motorcycle: 6
pedestrian: 2
traffic_cone: 2
trailer: 6
truck: 3
stop_epoch: -1
type: ObjectPaste
- bot_pct_lim:
- 0.0
- 0.0
final_dim:
- 256
- 704
is_train: true
rand_flip: true
resize_lim:
- 0.38
- 0.55
rot_lim:
- -5.4
- 5.4
type: ImageAug3D
- is_train: false
resize_lim:
- 1.0
- 1.0
rot_lim:
- 0.0
- 0.0
trans_lim: 0.0
type: GlobalRotScaleTrans
- classes:
- drivable_area
- ped_crossing