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forget to update car.fhd.onestage.config
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@traveller59
traveller59 committed Apr 14, 2019
1 parent ba98b30 commit 8eaa9bf
Showing 1 changed file with 73 additions and 65 deletions.
138 changes: 73 additions & 65 deletions second/configs/car.fhd.onestage.config
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@ model: {
second: {
voxel_generator {
point_cloud_range : [0, -40, -3, 70.4, 40, 1]
# point_cloud_range : [0, -32.0, -3, 52.8, 32.0, 1]
voxel_size : [0.05, 0.05, 0.1]
max_number_of_points_per_voxel : 5
}
Expand Down Expand Up @@ -48,31 +47,29 @@ model: {
classification_weight: 1.0
localization_weight: 2.0
}
num_point_features: 4 # model's num point feature should be independent of dataset
# Outputs
use_sigmoid_score: true
encode_background_as_zeros: true
encode_rad_error_by_sin: true

use_direction_classifier: true # this can help for orientation benchmark
direction_loss_weight: 0.2 # enough.
use_aux_classifier: false

# Loss
pos_class_weight: 1.0
neg_class_weight: 1.0

loss_norm_type: NormByNumPositives
# Postprocess
post_center_limit_range: [0, -40, -3.0, 70.4, 40, 0.0]
post_center_limit_range: [0, -40, -2.2, 70.4, 40, 0.8]
use_rotate_nms: true
use_multi_class_nms: false
nms_pre_max_size: 1000
nms_post_max_size: 100
nms_score_threshold: 0.3
nms_score_threshold: 0.3 # 0.4 in submit, but 0.3 can get better hard performance
nms_iou_threshold: 0.01

use_bev: false
num_point_features: 4
without_reflectivity: false
box_coder: {
ground_box3d_coder: {
linear_dim: false
Expand All @@ -83,7 +80,7 @@ model: {
anchor_generators: {
anchor_generator_range: {
sizes: [1.6, 3.9, 1.56] # wlh
anchor_ranges: [0, -40.0, -1.0, 70.4, 40.0, -1.0] # carefully set z center
anchor_ranges: [0, -40.0, -1.00, 70.4, 40.0, -1.00] # carefully set z center
rotations: [0, 1.57] # DON'T modify this unless you are very familiar with my code.
matched_threshold : 0.6
unmatched_threshold : 0.45
Expand All @@ -100,91 +97,102 @@ model: {
}
}


train_input_reader: {
max_num_epochs : 160
batch_size: 6
prefetch_size : 25
max_number_of_voxels: 16000
shuffle_points: true
num_workers: 3
groundtruth_localization_noise_std: [1.0, 1.0, 0.5]
# groundtruth_rotation_uniform_noise: [-0.3141592654, 0.3141592654]
# groundtruth_rotation_uniform_noise: [-1.57, 1.57]
groundtruth_rotation_uniform_noise: [-0.78539816, 0.78539816]
global_rotation_uniform_noise: [-0.78539816, 0.78539816]
global_scaling_uniform_noise: [0.95, 1.05]
global_random_rotation_range_per_object: [0, 0] # pi/4 ~ 3pi/4
anchor_area_threshold: -1
remove_points_after_sample: true
groundtruth_points_drop_percentage: 0.0
groundtruth_drop_max_keep_points: 15
database_sampler {
database_info_path: "/media/yy/My Passport/datasets/kitti/kitti_dbinfos_train.pkl"
sample_groups {
name_to_max_num {
key: "Car"
value: 15
}
}
database_prep_steps {
filter_by_min_num_points {
min_num_point_pairs {
dataset: {
dataset_class_name: "KittiDataset"
kitti_info_path: "/media/yy/960evo/datasets/kitti/kitti_infos_train.pkl"
kitti_root_path: "/media/yy/960evo/datasets/kitti"
}

batch_size: 8
preprocess: {
max_number_of_voxels: 17000
shuffle_points: true
num_workers: 3
groundtruth_localization_noise_std: [1.0, 1.0, 0.5]
# groundtruth_rotation_uniform_noise: [-0.3141592654, 0.3141592654]
# groundtruth_rotation_uniform_noise: [-1.57, 1.57]
groundtruth_rotation_uniform_noise: [-0.78539816, 0.78539816]
global_rotation_uniform_noise: [-0.78539816, 0.78539816]
global_scaling_uniform_noise: [0.95, 1.05]
global_random_rotation_range_per_object: [0, 0] # pi/4 ~ 3pi/4
global_translate_noise_std: [0, 0, 0]
anchor_area_threshold: -1
remove_points_after_sample: true
groundtruth_points_drop_percentage: 0.0
groundtruth_drop_max_keep_points: 15
remove_unknown_examples: false
remove_environment: false
database_sampler {
database_info_path: "/media/yy/960evo/datasets/kitti/kitti_dbinfos_train.pkl"
sample_groups {
name_to_max_num {
key: "Car"
value: 5
value: 15
}
}
}
database_prep_steps {
filter_by_difficulty {
removed_difficulties: [-1]
database_prep_steps {
filter_by_min_num_points {
min_num_point_pairs {
key: "Car"
value: 5
}
}
}
database_prep_steps {
filter_by_difficulty {
removed_difficulties: [-1]
}
}
global_random_rotation_range_per_object: [0, 0]
rate: 1.0
}
global_random_rotation_range_per_object: [0, 0]
rate: 1.0
}

remove_unknown_examples: false
remove_environment: false
kitti_info_path: "/media/yy/My Passport/datasets/kitti/kitti_infos_train.pkl"
kitti_root_path: "/media/yy/My Passport/datasets/kitti"
}

train_config: {
optimizer: {
adam_optimizer: {
learning_rate: {
one_cycle: {
lr_max: 3e-3
lr_max: 2.25e-3
moms: [0.95, 0.85]
div_factor: 10.0
pct_start: 0.4
}
}
weight_decay: 0.01 # super converge. decrease this when you increase steps.
weight_decay: 0.01
}
fixed_weight_decay: true
use_moving_average: false
}
steps: 30950 # 619 * 50, super converge. increase this to achieve slightly better results
steps_per_eval: 3095 # 619 * 5
# steps: 99040 # 1238 * 120
# steps: 49520 # 619 * 80
# steps: 30950 # 619 * 80
# steps_per_eval: 3095 # 619 * 5
steps: 23200 # 464 * 50
steps_per_eval: 2320 # 464 * 5

save_checkpoints_secs : 1800 # half hour
save_summary_steps : 10
enable_mixed_precision: false
enable_mixed_precision: false
loss_scale_factor : 8.0
clear_metrics_every_epoch: true
}

eval_input_reader: {
batch_size: 6
max_num_epochs : 160
prefetch_size : 25
max_number_of_voxels: 40000
shuffle_points: false
num_workers: 3
anchor_area_threshold: -1
remove_environment: false
kitti_info_path: "/media/yy/My Passport/datasets/kitti/kitti_infos_val.pkl"
# kitti_info_path: "/media/yy/My Passport/datasets/kitti/kitti_infos_test.pkl"
kitti_root_path: "/media/yy/My Passport/datasets/kitti"
dataset: {
dataset_class_name: "KittiDataset"
kitti_info_path: "/media/yy/960evo/datasets/kitti/kitti_infos_val.pkl"
# kitti_info_path: "/media/yy/960evo/datasets/kitti/kitti_infos_test.pkl"
kitti_root_path: "/media/yy/960evo/datasets/kitti"
}
batch_size: 8
preprocess: {
max_number_of_voxels: 40000
shuffle_points: false
num_workers: 3
anchor_area_threshold: -1
remove_environment: false
}
}

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