| point_cloud_range = [-15.0, -30.0, -2.0, 15.0, 30.0, 2.0] |
| class_names = [ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ] |
| dataset_type = 'B2D_DriveTransformer_GoalPoint_Dataset' |
| data_root = 'data/bench2drive' |
| input_modality = dict( |
| use_lidar=False, |
| use_camera=True, |
| use_radar=False, |
| use_map=False, |
| use_external=True) |
| file_client_args = dict(backend='disk') |
| train_pipeline = [ |
| dict(type='LoadMultiViewImageFromFiles', to_float32=True), |
| dict(type='ResizeCropFlipImage'), |
| dict( |
| type='NormalizeMultiviewImage', |
| mean=[123.675, 116.28, 103.53], |
| std=[58.395, 57.12, 57.375], |
| to_rgb=True), |
| dict( |
| type='LoadAnnotations3D', |
| with_bbox_3d=True, |
| with_label_3d=True, |
| with_attr_label=True), |
| dict( |
| type='CustomObjectRangeFilter', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), |
| dict( |
| type='CustomObjectNameFilter', |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ]), |
| dict( |
| type='TrajPreprocess', |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| with_ego_fix_dist=True, |
| ego_fut_offset_input=False, |
| assign_class_for_ego=False), |
| dict( |
| type='CustomFormatBundle3D', |
| class_names=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ], |
| with_ego=True, |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ]), |
| dict( |
| type='CustomCollect3D', |
| keys=[ |
| 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', |
| 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', |
| 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', |
| 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd', |
| 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index', |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ]) |
| ] |
| test_pipeline = [ |
| dict(type='LoadMultiViewImageFromFiles', to_float32=True), |
| dict(type='ResizeCropFlipImage'), |
| dict( |
| type='NormalizeMultiviewImage', |
| mean=[123.675, 116.28, 103.53], |
| std=[58.395, 57.12, 57.375], |
| to_rgb=True), |
| dict( |
| type='LoadAnnotations3D', |
| with_bbox_3d=True, |
| with_label_3d=True, |
| with_attr_label=True), |
| dict( |
| type='CustomObjectRangeFilter', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), |
| dict( |
| type='CustomObjectNameFilter', |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ]), |
| dict( |
| type='TrajPreprocess', |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| with_ego_fix_dist=True, |
| ego_fut_offset_input=False, |
| assign_class_for_ego=False), |
| dict( |
| type='CustomFormatBundle3D', |
| class_names=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ], |
| with_ego=True, |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ]), |
| dict( |
| type='CustomCollect3D', |
| keys=[ |
| 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', |
| 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', |
| 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', |
| 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', 'ego_fut_cmd', |
| 'ego_lcf_feat', 'gt_attr_labels', 'prev_exists', 'index', |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ]) |
| ] |
| eval_pipeline = [ |
| dict( |
| type='LoadPointsFromFile', |
| coord_type='LIDAR', |
| load_dim=5, |
| use_dim=5, |
| file_client_args=dict(backend='disk')), |
| dict( |
| type='LoadPointsFromMultiSweeps', |
| sweeps_num=10, |
| file_client_args=dict(backend='disk')), |
| dict( |
| type='DefaultFormatBundle3D', |
| class_names=[ |
| 'car', 'truck', 'trailer', 'bus', 'construction_vehicle', |
| 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', 'barrier' |
| ], |
| with_label=False), |
| dict(type='Collect3D', keys=['points']) |
| ] |
| data = dict( |
| samples_per_gpu=6, |
| workers_per_gpu=8, |
| train=dict( |
| type='B2D_DriveTransformer_GoalPoint_Dataset', |
| data_root='data/bench2drive', |
| ann_file='data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl', |
| pipeline=[ |
| dict(type='LoadMultiViewImageFromFiles', to_float32=True), |
| dict(type='ResizeCropFlipImage'), |
| dict( |
| type='NormalizeMultiviewImage', |
| mean=[123.675, 116.28, 103.53], |
| std=[58.395, 57.12, 57.375], |
| to_rgb=True), |
| dict( |
| type='LoadAnnotations3D', |
| with_bbox_3d=True, |
| with_label_3d=True, |
| with_attr_label=True), |
| dict( |
| type='CustomObjectRangeFilter', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), |
| dict( |
| type='CustomObjectNameFilter', |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', |
| 'traffic_cone', 'traffic_light', 'pedestrian', 'others' |
| ]), |
| dict( |
| type='TrajPreprocess', |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| with_ego_fix_dist=True, |
| ego_fut_offset_input=False, |
| assign_class_for_ego=False), |
| dict( |
| type='CustomFormatBundle3D', |
| class_names=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', |
| 'traffic_cone', 'traffic_light', 'pedestrian', 'others' |
| ], |
| with_ego=True, |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', |
| 'gt_traj_fut_classes', 'ego_fut_classes' |
| ]), |
| dict( |
| type='CustomCollect3D', |
| keys=[ |
| 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', |
| 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', |
| 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', |
| 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', |
| 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels', |
| 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic', |
| 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv', |
| 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' |
| ]) |
| ], |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ], |
| modality=dict( |
| use_lidar=False, |
| use_camera=True, |
| use_radar=False, |
| use_map=False, |
| use_external=True), |
| test_mode=False, |
| box_type_3d='LiDAR', |
| data_aug_conf=dict( |
| resize_lim=(0.64, 0.69), |
| final_dim=(384, 1056), |
| bot_pct_lim=(0.0, 0.0), |
| rot_lim=(-5.4, 5.4), |
| H=900, |
| W=1600, |
| rand_flip=True, |
| rot3d_range=[0, 0]), |
| name_mapping=dict({ |
| 'vehicle.bh.crossbike': |
| 'bicycle', |
| 'vehicle.diamondback.century': |
| 'bicycle', |
| 'vehicle.gazelle.omafiets': |
| 'bicycle', |
| 'vehicle.audi.etron': |
| 'car', |
| 'vehicle.chevrolet.impala': |
| 'car', |
| 'vehicle.dodge.charger_2020': |
| 'car', |
| 'vehicle.dodge.charger_police': |
| 'car', |
| 'vehicle.dodge.charger_police_2020': |
| 'car', |
| 'vehicle.lincoln.mkz_2017': |
| 'car', |
| 'vehicle.lincoln.mkz_2020': |
| 'car', |
| 'vehicle.mini.cooper_s_2021': |
| 'car', |
| 'vehicle.mercedes.coupe_2020': |
| 'car', |
| 'vehicle.ford.mustang': |
| 'car', |
| 'vehicle.nissan.patrol_2021': |
| 'car', |
| 'vehicle.audi.tt': |
| 'car', |
| 'vehicle.ford.crown': |
| 'car', |
| 'vehicle.tesla.model3': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': |
| 'van', |
| 'vehicle.ford.ambulance': |
| 'van', |
| 'vehicle.carlamotors.firetruck': |
| 'truck', |
| 'traffic.speed_limit.30': |
| 'traffic_sign', |
| 'traffic.speed_limit.40': |
| 'traffic_sign', |
| 'traffic.speed_limit.50': |
| 'traffic_sign', |
| 'traffic.speed_limit.60': |
| 'traffic_sign', |
| 'traffic.speed_limit.90': |
| 'traffic_sign', |
| 'traffic.speed_limit.120': |
| 'traffic_sign', |
| 'traffic.stop': |
| 'traffic_sign', |
| 'traffic.yield': |
| 'traffic_sign', |
| 'traffic.traffic_light': |
| 'traffic_light', |
| 'static.prop.warningconstruction': |
| 'traffic_cone', |
| 'static.prop.warningaccident': |
| 'traffic_cone', |
| 'static.prop.trafficwarning': |
| 'traffic_cone', |
| 'static.prop.constructioncone': |
| 'traffic_cone', |
| 'walker.pedestrian.0001': |
| 'pedestrian', |
| 'walker.pedestrian.0003': |
| 'pedestrian', |
| 'walker.pedestrian.0004': |
| 'pedestrian', |
| 'walker.pedestrian.0005': |
| 'pedestrian', |
| 'walker.pedestrian.0007': |
| 'pedestrian', |
| 'walker.pedestrian.0010': |
| 'pedestrian', |
| 'walker.pedestrian.0013': |
| 'pedestrian', |
| 'walker.pedestrian.0014': |
| 'pedestrian', |
| 'walker.pedestrian.0015': |
| 'pedestrian', |
| 'walker.pedestrian.0016': |
| 'pedestrian', |
| 'walker.pedestrian.0017': |
| 'pedestrian', |
| 'walker.pedestrian.0018': |
| 'pedestrian', |
| 'walker.pedestrian.0019': |
| 'pedestrian', |
| 'walker.pedestrian.0020': |
| 'pedestrian', |
| 'walker.pedestrian.0021': |
| 'pedestrian', |
| 'walker.pedestrian.0022': |
| 'pedestrian', |
| 'walker.pedestrian.0025': |
| 'pedestrian', |
| 'walker.pedestrian.0027': |
| 'pedestrian', |
| 'walker.pedestrian.0030': |
| 'pedestrian', |
| 'walker.pedestrian.0031': |
| 'pedestrian', |
| 'walker.pedestrian.0032': |
| 'pedestrian', |
| 'walker.pedestrian.0034': |
| 'pedestrian', |
| 'walker.pedestrian.0035': |
| 'pedestrian', |
| 'walker.pedestrian.0041': |
| 'pedestrian', |
| 'walker.pedestrian.0042': |
| 'pedestrian', |
| 'walker.pedestrian.0046': |
| 'pedestrian', |
| 'walker.pedestrian.0047': |
| 'pedestrian', |
| 'static.prop.dirtdebris01': |
| 'others', |
| 'static.prop.dirtdebris02': |
| 'others' |
| }), |
| map_file='data/infos/b2d_map_infos.pkl', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ], |
| polyline_points_num=20, |
| filter_empty_gt=False, |
| sub_seq_lenth=-1, |
| use_splited_data=True, |
| cache_lenth=7, |
| future_frames=6, |
| future_frames_ego_fix_time=30, |
| future_frames_ego_fix_dist=20, |
| sample_interval_ego_fut=1, |
| sample_interval=5, |
| fix_future_dis=1, |
| use_angle_as_dis_traj=True, |
| use_raw_goalpoint=False), |
| val=dict( |
| type='B2D_DriveTransformer_GoalPoint_Dataset', |
| ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl', |
| pipeline=[ |
| dict(type='LoadMultiViewImageFromFiles', to_float32=True), |
| dict(type='ResizeCropFlipImage'), |
| dict( |
| type='NormalizeMultiviewImage', |
| mean=[123.675, 116.28, 103.53], |
| std=[58.395, 57.12, 57.375], |
| to_rgb=True), |
| dict( |
| type='LoadAnnotations3D', |
| with_bbox_3d=True, |
| with_label_3d=True, |
| with_attr_label=True), |
| dict( |
| type='CustomObjectRangeFilter', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), |
| dict( |
| type='CustomObjectNameFilter', |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', |
| 'traffic_cone', 'traffic_light', 'pedestrian', 'others' |
| ]), |
| dict( |
| type='TrajPreprocess', |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| with_ego_fix_dist=True, |
| ego_fut_offset_input=False, |
| assign_class_for_ego=False), |
| dict( |
| type='CustomFormatBundle3D', |
| class_names=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', |
| 'traffic_cone', 'traffic_light', 'pedestrian', 'others' |
| ], |
| with_ego=True, |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', |
| 'gt_traj_fut_classes', 'ego_fut_classes' |
| ]), |
| dict( |
| type='CustomCollect3D', |
| keys=[ |
| 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', |
| 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', |
| 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', |
| 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', |
| 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels', |
| 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic', |
| 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv', |
| 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' |
| ]) |
| ], |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ], |
| modality=dict( |
| use_lidar=False, |
| use_camera=True, |
| use_radar=False, |
| use_map=False, |
| use_external=True), |
| test_mode=True, |
| box_type_3d='LiDAR', |
| data_root='data/bench2drive', |
| data_aug_conf=dict( |
| resize_lim=(0.64, 0.69), |
| final_dim=(384, 1056), |
| bot_pct_lim=(0.0, 0.0), |
| rot_lim=(-5.4, 5.4), |
| H=900, |
| W=1600, |
| rand_flip=True, |
| rot3d_range=[0, 0]), |
| name_mapping=dict({ |
| 'vehicle.bh.crossbike': |
| 'bicycle', |
| 'vehicle.diamondback.century': |
| 'bicycle', |
| 'vehicle.gazelle.omafiets': |
| 'bicycle', |
| 'vehicle.audi.etron': |
| 'car', |
| 'vehicle.chevrolet.impala': |
| 'car', |
| 'vehicle.dodge.charger_2020': |
| 'car', |
| 'vehicle.dodge.charger_police': |
| 'car', |
| 'vehicle.dodge.charger_police_2020': |
| 'car', |
| 'vehicle.lincoln.mkz_2017': |
| 'car', |
| 'vehicle.lincoln.mkz_2020': |
| 'car', |
| 'vehicle.mini.cooper_s_2021': |
| 'car', |
| 'vehicle.mercedes.coupe_2020': |
| 'car', |
| 'vehicle.ford.mustang': |
| 'car', |
| 'vehicle.nissan.patrol_2021': |
| 'car', |
| 'vehicle.audi.tt': |
| 'car', |
| 'vehicle.ford.crown': |
| 'car', |
| 'vehicle.tesla.model3': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': |
| 'van', |
| 'vehicle.ford.ambulance': |
| 'van', |
| 'vehicle.carlamotors.firetruck': |
| 'truck', |
| 'traffic.speed_limit.30': |
| 'traffic_sign', |
| 'traffic.speed_limit.40': |
| 'traffic_sign', |
| 'traffic.speed_limit.50': |
| 'traffic_sign', |
| 'traffic.speed_limit.60': |
| 'traffic_sign', |
| 'traffic.speed_limit.90': |
| 'traffic_sign', |
| 'traffic.speed_limit.120': |
| 'traffic_sign', |
| 'traffic.stop': |
| 'traffic_sign', |
| 'traffic.yield': |
| 'traffic_sign', |
| 'traffic.traffic_light': |
| 'traffic_light', |
| 'static.prop.warningconstruction': |
| 'traffic_cone', |
| 'static.prop.warningaccident': |
| 'traffic_cone', |
| 'static.prop.trafficwarning': |
| 'traffic_cone', |
| 'static.prop.constructioncone': |
| 'traffic_cone', |
| 'walker.pedestrian.0001': |
| 'pedestrian', |
| 'walker.pedestrian.0003': |
| 'pedestrian', |
| 'walker.pedestrian.0004': |
| 'pedestrian', |
| 'walker.pedestrian.0005': |
| 'pedestrian', |
| 'walker.pedestrian.0007': |
| 'pedestrian', |
| 'walker.pedestrian.0010': |
| 'pedestrian', |
| 'walker.pedestrian.0013': |
| 'pedestrian', |
| 'walker.pedestrian.0014': |
| 'pedestrian', |
| 'walker.pedestrian.0015': |
| 'pedestrian', |
| 'walker.pedestrian.0016': |
| 'pedestrian', |
| 'walker.pedestrian.0017': |
| 'pedestrian', |
| 'walker.pedestrian.0018': |
| 'pedestrian', |
| 'walker.pedestrian.0019': |
| 'pedestrian', |
| 'walker.pedestrian.0020': |
| 'pedestrian', |
| 'walker.pedestrian.0021': |
| 'pedestrian', |
| 'walker.pedestrian.0022': |
| 'pedestrian', |
| 'walker.pedestrian.0025': |
| 'pedestrian', |
| 'walker.pedestrian.0027': |
| 'pedestrian', |
| 'walker.pedestrian.0030': |
| 'pedestrian', |
| 'walker.pedestrian.0031': |
| 'pedestrian', |
| 'walker.pedestrian.0032': |
| 'pedestrian', |
| 'walker.pedestrian.0034': |
| 'pedestrian', |
| 'walker.pedestrian.0035': |
| 'pedestrian', |
| 'walker.pedestrian.0041': |
| 'pedestrian', |
| 'walker.pedestrian.0042': |
| 'pedestrian', |
| 'walker.pedestrian.0046': |
| 'pedestrian', |
| 'walker.pedestrian.0047': |
| 'pedestrian', |
| 'static.prop.dirtdebris01': |
| 'others', |
| 'static.prop.dirtdebris02': |
| 'others' |
| }), |
| map_file='data/infos/b2d_map_infos.pkl', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ], |
| polyline_points_num=20, |
| filter_empty_gt=False, |
| use_splited_data=True, |
| cache_lenth=7, |
| future_frames=6, |
| future_frames_ego_fix_time=30, |
| future_frames_ego_fix_dist=20, |
| sample_interval_ego_fut=1, |
| sample_interval=5, |
| fix_future_dis=1, |
| use_angle_as_dis_traj=True, |
| use_raw_goalpoint=False), |
| test=dict( |
| type='B2D_DriveTransformer_GoalPoint_Dataset', |
| data_root='data/bench2drive', |
| ann_file='data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl', |
| pipeline=[ |
| dict(type='LoadMultiViewImageFromFiles', to_float32=True), |
| dict(type='ResizeCropFlipImage'), |
| dict( |
| type='NormalizeMultiviewImage', |
| mean=[123.675, 116.28, 103.53], |
| std=[58.395, 57.12, 57.375], |
| to_rgb=True), |
| dict( |
| type='LoadAnnotations3D', |
| with_bbox_3d=True, |
| with_label_3d=True, |
| with_attr_label=True), |
| dict( |
| type='CustomObjectRangeFilter', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), |
| dict( |
| type='CustomObjectNameFilter', |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', |
| 'traffic_cone', 'traffic_light', 'pedestrian', 'others' |
| ]), |
| dict( |
| type='TrajPreprocess', |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| with_ego_fix_dist=True, |
| ego_fut_offset_input=False, |
| assign_class_for_ego=False), |
| dict( |
| type='CustomFormatBundle3D', |
| class_names=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', |
| 'traffic_cone', 'traffic_light', 'pedestrian', 'others' |
| ], |
| with_ego=True, |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', |
| 'gt_traj_fut_classes', 'ego_fut_classes' |
| ]), |
| dict( |
| type='CustomCollect3D', |
| keys=[ |
| 'gt_bboxes_3d', 'gt_labels_3d', 'img', 'ego_his_trajs', |
| 'fut_valid_flag_fix_time', 'ego_fut_trajs_fix_time', |
| 'ego_fut_masks_fix_time', 'fut_valid_flag_fix_dist', |
| 'ego_fut_trajs_fix_dist', 'ego_fut_masks_fix_dist', |
| 'ego_fut_cmd', 'ego_lcf_feat', 'gt_attr_labels', |
| 'prev_exists', 'index', 'lidar2img', 'cam_intrinsic', |
| 'cam_extrinsic', 'timestamp', 'ego_pose', 'ego_pose_inv', |
| 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' |
| ]) |
| ], |
| classes=[ |
| 'car', 'van', 'truck', 'bicycle', 'traffic_sign', 'traffic_cone', |
| 'traffic_light', 'pedestrian', 'others' |
| ], |
| modality=dict( |
| use_lidar=False, |
| use_camera=True, |
| use_radar=False, |
| use_map=False, |
| use_external=True), |
| test_mode=True, |
| box_type_3d='LiDAR', |
| data_aug_conf=dict( |
| resize_lim=(0.64, 0.69), |
| final_dim=(384, 1056), |
| bot_pct_lim=(0.0, 0.0), |
| rot_lim=(-5.4, 5.4), |
| H=900, |
| W=1600, |
| rand_flip=True, |
| rot3d_range=[0, 0]), |
| name_mapping=dict({ |
| 'vehicle.bh.crossbike': |
| 'bicycle', |
| 'vehicle.diamondback.century': |
| 'bicycle', |
| 'vehicle.gazelle.omafiets': |
| 'bicycle', |
| 'vehicle.audi.etron': |
| 'car', |
| 'vehicle.chevrolet.impala': |
| 'car', |
| 'vehicle.dodge.charger_2020': |
| 'car', |
| 'vehicle.dodge.charger_police': |
| 'car', |
| 'vehicle.dodge.charger_police_2020': |
| 'car', |
| 'vehicle.lincoln.mkz_2017': |
| 'car', |
| 'vehicle.lincoln.mkz_2020': |
| 'car', |
| 'vehicle.mini.cooper_s_2021': |
| 'car', |
| 'vehicle.mercedes.coupe_2020': |
| 'car', |
| 'vehicle.ford.mustang': |
| 'car', |
| 'vehicle.nissan.patrol_2021': |
| 'car', |
| 'vehicle.audi.tt': |
| 'car', |
| 'vehicle.ford.crown': |
| 'car', |
| 'vehicle.tesla.model3': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': |
| 'van', |
| 'vehicle.ford.ambulance': |
| 'van', |
| 'vehicle.carlamotors.firetruck': |
| 'truck', |
| 'traffic.speed_limit.30': |
| 'traffic_sign', |
| 'traffic.speed_limit.40': |
| 'traffic_sign', |
| 'traffic.speed_limit.50': |
| 'traffic_sign', |
| 'traffic.speed_limit.60': |
| 'traffic_sign', |
| 'traffic.speed_limit.90': |
| 'traffic_sign', |
| 'traffic.speed_limit.120': |
| 'traffic_sign', |
| 'traffic.stop': |
| 'traffic_sign', |
| 'traffic.yield': |
| 'traffic_sign', |
| 'traffic.traffic_light': |
| 'traffic_light', |
| 'static.prop.warningconstruction': |
| 'traffic_cone', |
| 'static.prop.warningaccident': |
| 'traffic_cone', |
| 'static.prop.trafficwarning': |
| 'traffic_cone', |
| 'static.prop.constructioncone': |
| 'traffic_cone', |
| 'walker.pedestrian.0001': |
| 'pedestrian', |
| 'walker.pedestrian.0003': |
| 'pedestrian', |
| 'walker.pedestrian.0004': |
| 'pedestrian', |
| 'walker.pedestrian.0005': |
| 'pedestrian', |
| 'walker.pedestrian.0007': |
| 'pedestrian', |
| 'walker.pedestrian.0010': |
| 'pedestrian', |
| 'walker.pedestrian.0013': |
| 'pedestrian', |
| 'walker.pedestrian.0014': |
| 'pedestrian', |
| 'walker.pedestrian.0015': |
| 'pedestrian', |
| 'walker.pedestrian.0016': |
| 'pedestrian', |
| 'walker.pedestrian.0017': |
| 'pedestrian', |
| 'walker.pedestrian.0018': |
| 'pedestrian', |
| 'walker.pedestrian.0019': |
| 'pedestrian', |
| 'walker.pedestrian.0020': |
| 'pedestrian', |
| 'walker.pedestrian.0021': |
| 'pedestrian', |
| 'walker.pedestrian.0022': |
| 'pedestrian', |
| 'walker.pedestrian.0025': |
| 'pedestrian', |
| 'walker.pedestrian.0027': |
| 'pedestrian', |
| 'walker.pedestrian.0030': |
| 'pedestrian', |
| 'walker.pedestrian.0031': |
| 'pedestrian', |
| 'walker.pedestrian.0032': |
| 'pedestrian', |
| 'walker.pedestrian.0034': |
| 'pedestrian', |
| 'walker.pedestrian.0035': |
| 'pedestrian', |
| 'walker.pedestrian.0041': |
| 'pedestrian', |
| 'walker.pedestrian.0042': |
| 'pedestrian', |
| 'walker.pedestrian.0046': |
| 'pedestrian', |
| 'walker.pedestrian.0047': |
| 'pedestrian', |
| 'static.prop.dirtdebris01': |
| 'others', |
| 'static.prop.dirtdebris02': |
| 'others' |
| }), |
| map_file='data/infos/b2d_map_infos.pkl', |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| collect_keys=[ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', |
| 'ego_pose', 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', |
| 'ego_fut_classes' |
| ], |
| polyline_points_num=20, |
| filter_empty_gt=False, |
| use_splited_data=True, |
| cache_lenth=7, |
| future_frames=6, |
| future_frames_ego_fix_time=30, |
| future_frames_ego_fix_dist=20, |
| sample_interval_ego_fut=1, |
| sample_interval=5, |
| fix_future_dis=1, |
| use_angle_as_dis_traj=True, |
| use_raw_goalpoint=False), |
| shuffler_sampler=dict(type='InfiniteGroupEachSampleInBatchSampler'), |
| nonshuffler_sampler=dict(type='DistributedSampler')) |
| evaluation = dict( |
| interval=24, |
| pipeline=[ |
| dict( |
| type='LoadPointsFromFile', |
| coord_type='LIDAR', |
| load_dim=5, |
| use_dim=5, |
| file_client_args=dict(backend='disk')), |
| dict( |
| type='LoadPointsFromMultiSweeps', |
| sweeps_num=10, |
| file_client_args=dict(backend='disk')), |
| dict( |
| type='DefaultFormatBundle3D', |
| class_names=[ |
| 'car', 'truck', 'trailer', 'bus', 'construction_vehicle', |
| 'bicycle', 'motorcycle', 'pedestrian', 'traffic_cone', |
| 'barrier' |
| ], |
| with_label=False), |
| dict(type='Collect3D', keys=['points']) |
| ]) |
| checkpoint_config = dict(interval=1) |
| log_config = dict( |
| interval=50, |
| hooks=[dict(type='TextLoggerHook'), |
| dict(type='TensorboardLoggerHook')]) |
| dist_params = dict(backend='nccl') |
| log_level = 'INFO' |
| work_dir = './work_dirs/drivetransformer_goalpoint_1gpu' |
| load_from = None |
| resume_from = './work_dirs/drivetransformer_goalpoint_1gpu/epoch_12.pth' |
| workflow = [('train', 1)] |
| plugin = True |
| plugin_dir = 'adzoo/drivetransformer/mmdet3d_plugin/' |
| voxel_size = [0.15, 0.15, 4] |
| img_norm_cfg = dict( |
| mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True) |
| NameMapping = dict({ |
| 'vehicle.bh.crossbike': |
| 'bicycle', |
| 'vehicle.diamondback.century': |
| 'bicycle', |
| 'vehicle.gazelle.omafiets': |
| 'bicycle', |
| 'vehicle.audi.etron': |
| 'car', |
| 'vehicle.chevrolet.impala': |
| 'car', |
| 'vehicle.dodge.charger_2020': |
| 'car', |
| 'vehicle.dodge.charger_police': |
| 'car', |
| 'vehicle.dodge.charger_police_2020': |
| 'car', |
| 'vehicle.lincoln.mkz_2017': |
| 'car', |
| 'vehicle.lincoln.mkz_2020': |
| 'car', |
| 'vehicle.mini.cooper_s_2021': |
| 'car', |
| 'vehicle.mercedes.coupe_2020': |
| 'car', |
| 'vehicle.ford.mustang': |
| 'car', |
| 'vehicle.nissan.patrol_2021': |
| 'car', |
| 'vehicle.audi.tt': |
| 'car', |
| 'vehicle.ford.crown': |
| 'car', |
| 'vehicle.tesla.model3': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/FordCrown/SM_FordCrown_parked.SM_FordCrown_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Charger/SM_ChargerParked.SM_ChargerParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Lincoln/SM_LincolnParked.SM_LincolnParked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/MercedesCCC/SM_MercedesCCC_Parked.SM_MercedesCCC_Parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/Mini2021/SM_Mini2021_parked.SM_Mini2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/NissanPatrol2021/SM_NissanPatrol2021_parked.SM_NissanPatrol2021_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/TeslaM3/SM_TeslaM3_parked.SM_TeslaM3_parked': |
| 'car', |
| '/Game/Carla/Static/Car/4Wheeled/ParkedVehicles/VolkswagenT2/SM_VolkswagenT2_2021_Parked.SM_VolkswagenT2_2021_Parked': |
| 'van', |
| 'vehicle.ford.ambulance': |
| 'van', |
| 'vehicle.carlamotors.firetruck': |
| 'truck', |
| 'traffic.speed_limit.30': |
| 'traffic_sign', |
| 'traffic.speed_limit.40': |
| 'traffic_sign', |
| 'traffic.speed_limit.50': |
| 'traffic_sign', |
| 'traffic.speed_limit.60': |
| 'traffic_sign', |
| 'traffic.speed_limit.90': |
| 'traffic_sign', |
| 'traffic.speed_limit.120': |
| 'traffic_sign', |
| 'traffic.stop': |
| 'traffic_sign', |
| 'traffic.yield': |
| 'traffic_sign', |
| 'traffic.traffic_light': |
| 'traffic_light', |
| 'static.prop.warningconstruction': |
| 'traffic_cone', |
| 'static.prop.warningaccident': |
| 'traffic_cone', |
| 'static.prop.trafficwarning': |
| 'traffic_cone', |
| 'static.prop.constructioncone': |
| 'traffic_cone', |
| 'walker.pedestrian.0001': |
| 'pedestrian', |
| 'walker.pedestrian.0003': |
| 'pedestrian', |
| 'walker.pedestrian.0004': |
| 'pedestrian', |
| 'walker.pedestrian.0005': |
| 'pedestrian', |
| 'walker.pedestrian.0007': |
| 'pedestrian', |
| 'walker.pedestrian.0010': |
| 'pedestrian', |
| 'walker.pedestrian.0013': |
| 'pedestrian', |
| 'walker.pedestrian.0014': |
| 'pedestrian', |
| 'walker.pedestrian.0015': |
| 'pedestrian', |
| 'walker.pedestrian.0016': |
| 'pedestrian', |
| 'walker.pedestrian.0017': |
| 'pedestrian', |
| 'walker.pedestrian.0018': |
| 'pedestrian', |
| 'walker.pedestrian.0019': |
| 'pedestrian', |
| 'walker.pedestrian.0020': |
| 'pedestrian', |
| 'walker.pedestrian.0021': |
| 'pedestrian', |
| 'walker.pedestrian.0022': |
| 'pedestrian', |
| 'walker.pedestrian.0025': |
| 'pedestrian', |
| 'walker.pedestrian.0027': |
| 'pedestrian', |
| 'walker.pedestrian.0030': |
| 'pedestrian', |
| 'walker.pedestrian.0031': |
| 'pedestrian', |
| 'walker.pedestrian.0032': |
| 'pedestrian', |
| 'walker.pedestrian.0034': |
| 'pedestrian', |
| 'walker.pedestrian.0035': |
| 'pedestrian', |
| 'walker.pedestrian.0041': |
| 'pedestrian', |
| 'walker.pedestrian.0042': |
| 'pedestrian', |
| 'walker.pedestrian.0046': |
| 'pedestrian', |
| 'walker.pedestrian.0047': |
| 'pedestrian', |
| 'static.prop.dirtdebris01': |
| 'others', |
| 'static.prop.dirtdebris02': |
| 'others' |
| }) |
| collect_keys = [ |
| 'lidar2img', 'cam_intrinsic', 'cam_extrinsic', 'timestamp', 'ego_pose', |
| 'ego_pose_inv', 'pad_shape', 'gt_traj_fut_classes', 'ego_fut_classes' |
| ] |
| num_classes = 9 |
| map_classes = [ |
| 'Broken', 'Solid', 'SolidSolid', 'Center', 'TrafficLight', 'StopSign' |
| ] |
| map_fixed_ptsnum_per_gt_line = 20 |
| map_fixed_ptsnum_per_pred_line = 20 |
| map_eval_use_same_gt_sample_num_flag = True |
| map_num_classes = 6 |
| agent_query_num_vec = 900 |
| agent_num_topk_sift = 900 |
| agent_num_propagated = 50 |
| map_query_num_vec = 100 |
| map_num_topk_sift = 100 |
| map_num_propagated = 50 |
| memory_len_frame = 10 |
| num_mode = 6 |
| num_gpus = 1 |
| batch_size = 6 |
| num_iters_per_epoch = 1041 |
| data_aug_conf = dict( |
| resize_lim=(0.64, 0.69), |
| final_dim=(384, 1056), |
| bot_pct_lim=(0.0, 0.0), |
| rot_lim=(-5.4, 5.4), |
| H=900, |
| W=1600, |
| rand_flip=True, |
| rot3d_range=[0, 0]) |
| _dim_ = 512 |
| queue_length = 1 |
| total_epochs = 24 |
| dropout = 0.1 |
| model = dict( |
| type='DriveTransformer', |
| use_grid_mask=False, |
| pretrained=dict(img='./ckpts/resnet50-19c8e357.pth'), |
| img_backbone=dict( |
| type='ResNet', |
| depth=50, |
| num_stages=4, |
| out_indices=(3, ), |
| frozen_stages=1, |
| norm_cfg=dict(type='BN', requires_grad=False), |
| norm_eval=True, |
| style='pytorch'), |
| img_neck=dict( |
| type='FPN', |
| in_channels=[2048], |
| out_channels=512, |
| start_level=0, |
| add_extra_convs='on_output', |
| num_outs=1, |
| relu_before_extra_convs=True), |
| pts_bbox_head=dict( |
| type='DriveTransformerlHead', |
| ego_lcf_feat_idx=[0, 1, 2, 3, 4, 5, 6, 7, 8], |
| ego_command_dim=128, |
| img_stride=32, |
| embed_dims=512, |
| num_reg_fcs=2, |
| num_cls_fcs=2, |
| agent_num_propagated=50, |
| map_num_propagated=50, |
| memory_len_frame=10, |
| agent_num_query=900, |
| agent_num_query_sifted=900, |
| fut_mode=6, |
| fut_ego_mode=1, |
| fut_ts=6, |
| fut_ego_fix_dist=True, |
| fut_ts_ego_fix_dist=20, |
| fut_ts_ego_fix_time=30, |
| num_classes=9, |
| code_size=10, |
| map_num_query=100, |
| map_num_query_sifted=100, |
| map_num_classes=6, |
| map_num_pts_per_vec=20, |
| map_num_pts_per_gt_vec=20, |
| map_query_embed_type='instance_pts', |
| map_transform_method='minmax', |
| map_gt_shift_pts_pattern='v2', |
| map_dir_interval=1, |
| map_code_size=2, |
| map_code_weights=[1.0, 1.0, 1.0, 1.0], |
| sync_cls_avg_factor=True, |
| with_box_refine=True, |
| LID=True, |
| with_ego_pos=True, |
| position_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| depth_start=1, |
| depth_step=0.8, |
| depth_num=64, |
| agent_prep_decoder=dict( |
| type='DriveTransformerPreDecoder', |
| num_layers=1, |
| return_intermediate=False, |
| transformerlayers=dict( |
| type='DriveTransformerPreDecoderLayer', |
| attn_cfgs=[ |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1), |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1) |
| ], |
| ffn_cfgs=dict( |
| type='SwiGLULayer', |
| embed_dims=512, |
| feedforward_channels=2048, |
| ffn_drop=0.1), |
| with_cp=False, |
| operation_order=('cross_attn', 'norm', 'self_attn', 'norm', |
| 'ffn', 'norm'))), |
| map_prep_decoder=dict( |
| type='DriveTransformerPreDecoder', |
| num_layers=1, |
| return_intermediate=False, |
| transformerlayers=dict( |
| type='DriveTransformerPreDecoderLayer', |
| attn_cfgs=[ |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1), |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1) |
| ], |
| ffn_cfgs=dict( |
| type='SwiGLULayer', |
| embed_dims=512, |
| feedforward_channels=2048, |
| ffn_drop=0.1), |
| with_cp=False, |
| operation_order=('cross_attn', 'norm', 'self_attn', 'norm', |
| 'ffn', 'norm'))), |
| transformer=dict( |
| type='DriveTransformerWrapper', |
| embed_dims=512, |
| decoder=dict( |
| type='DriveTransformerDecoder', |
| num_layers=6, |
| fut_mode=6, |
| agent_num_query=900, |
| map_num_query=100, |
| map_num_pts_per_vec=20, |
| return_intermediate=True, |
| embed_dims=512, |
| refine=True, |
| transformerlayers=dict( |
| type='DriveTransformerDecoderLayer', |
| agent_query_num=900, |
| map_query_num=100, |
| memory_len_frame=10, |
| agent_num_propagated=50, |
| map_num_propagated=50, |
| map_pts_per_vec=20, |
| feedforward_channels=2048, |
| ffn_dropout=0.1, |
| with_cp=False, |
| attn_cfgs=[ |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1, |
| layer_scale=0.01), |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1, |
| layer_scale=0.01), |
| dict( |
| type='AttentionLayer', |
| embed_dims=512, |
| head_dim=64, |
| attn_drop=0.1, |
| no_wq=True) |
| ], |
| ffn_cfgs=dict( |
| type='SwiGLULayer', |
| embed_dims=512, |
| feedforward_channels=2048, |
| ffn_drop=0.1), |
| operation_order=('task_self_attn', 'norm', |
| 'temporal_cross_attn', 'norm', |
| 'sensor_cross_attn', 'norm', 'ffn', |
| 'norm')))), |
| bbox_coder=dict( |
| type='CustomNMSFreeCoder', |
| post_center_range=[-20, -35, -10.0, 20, 35, 10.0], |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| max_num=100, |
| voxel_size=[0.15, 0.15, 4], |
| num_classes=9), |
| loss_cls=dict( |
| type='FocalLoss', |
| use_sigmoid=True, |
| gamma=2.0, |
| alpha=0.25, |
| loss_weight=2.0), |
| loss_bbox=dict(type='L1Loss', loss_weight=0.25), |
| loss_traj=dict(type='L1Loss', loss_weight=0.2), |
| loss_traj_cls=dict( |
| type='FocalLoss', |
| use_sigmoid=True, |
| gamma=2.0, |
| alpha=0.5, |
| loss_weight=0.2), |
| map_bbox_coder=dict( |
| type='MapNMSFreeCoder', |
| post_center_range=[-20, -35, -20, -35, 20, 35, 20, 35], |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| max_num=50, |
| voxel_size=[0.15, 0.15, 4], |
| num_classes=6), |
| loss_map_cls=dict( |
| type='FocalLoss', |
| use_sigmoid=True, |
| gamma=2.0, |
| alpha=0.25, |
| loss_weight=2.0), |
| loss_map_pts=dict(type='PtsL1Loss', loss_weight=1.0), |
| loss_map_dir=dict(type='PtsDirCosLoss', loss_weight=0.005), |
| loss_plan_reg_fix_time=dict(type='L1Loss', loss_weight=3.5), |
| loss_plan_reg_fix_dist=dict(type='L1Loss', loss_weight=10.0), |
| loss_plan_cls=dict( |
| type='FocalLoss', |
| use_sigmoid=True, |
| gamma=4.0, |
| alpha=0.5, |
| loss_weight=20.0)), |
| train_cfg=dict( |
| pts=dict( |
| grid_size=[512, 512, 1], |
| voxel_size=[0.15, 0.15, 4], |
| point_cloud_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0], |
| out_size_factor=4, |
| assigner=dict( |
| type='HungarianAssigner3D', |
| cls_cost=dict( |
| type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25), |
| reg_cost=dict(type='BBox3DL1Cost', weight=0.25), |
| iou_cost=dict(type='IoUCost', weight=0.0), |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0]), |
| map_assigner=dict( |
| type='MapHungarianAssigner3D', |
| cls_cost=dict( |
| type='FocalLossCost', weight=2.0, gamma=2.0, alpha=0.25), |
| reg_cost=dict( |
| type='BBoxL1Cost', weight=0.0, box_format='xywh'), |
| iou_cost=dict(type='IoUCost', iou_mode='giou', weight=0.0), |
| pts_cost=dict(type='OrderedPtsL1Cost', weight=1.0), |
| pc_range=[-15.0, -30.0, -2.0, 15.0, 30.0, 2.0])))) |
| info_root = 'data/infos' |
| map_root = 'data/bench2drive/maps' |
| map_file = 'data/infos/b2d_map_infos.pkl' |
| ann_file_train = 'data/infos/b2d_infos_v1_train_drivetransformer_meta.pkl' |
| ann_file_val = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl' |
| ann_file_test = 'data/infos/b2d_infos_v1_val_drivetransformer_meta.pkl' |
| optimizer = dict(type='AdamW', lr=0.0001, weight_decay=0.01) |
| optimizer_config = dict( |
| grad_clip=dict(max_norm=35, norm_type=2), |
| type='GradientCumulativeFp16OptimizerHook', |
| cumulative_iters=32) |
| lr_config = dict( |
| policy='CosineAnnealing', |
| warmup='linear', |
| warmup_iters=1000, |
| warmup_ratio=0.1, |
| min_lr_ratio=0.01) |
| runner = dict(type='EpochBasedRunner', max_epochs=24) |
| fp16 = dict(loss_scale=512.0) |
| find_unused_parameters = True |
| custom_hooks = [dict(type='CustomSetEpochInfoHook')] |
| cumulative_iters = 32 |
| gpu_ids = range(0, 1) |
|
|
