From 8eaa9bf464e1be1e1d2d2240fe7e2f1c05d9d860 Mon Sep 17 00:00:00 2001 From: traveller59 Date: Sun, 14 Apr 2019 15:56:19 +0800 Subject: [PATCH] forget to update car.fhd.onestage.config --- second/configs/car.fhd.onestage.config | 138 +++++++++++++------------ 1 file changed, 73 insertions(+), 65 deletions(-) diff --git a/second/configs/car.fhd.onestage.config b/second/configs/car.fhd.onestage.config index 0713ca2f..f105f9f5 100644 --- a/second/configs/car.fhd.onestage.config +++ b/second/configs/car.fhd.onestage.config @@ -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 } @@ -48,6 +47,7 @@ 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 @@ -55,24 +55,21 @@ model: { 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 @@ -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 @@ -100,54 +97,57 @@ 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: { @@ -155,36 +155,44 @@ train_config: { 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 + } } \ No newline at end of file