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mbptrack_nuscenes_kitti_ped_cfg.yaml
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# dataset configs
dataset_cfg:
dataset_type: NuscenesKITTIMem
data_root_dir: data/Nuscene/
category_name: Pedestrian
test_version: v1.0-trainval
coordinate_mode: velodyne # invalid
num_smp_frames_per_tracklet: 8
max_frame_dis: 1
use_seq_aug: False
use_smp_aug: True
tracklet_length_lb: 8
# crop local area for tracking
frame_npts: 1024
frame_offset: 2.0
frame_offset2: 0.0
frame_scale: 1.0
# crop the tracked target across frames to generate completion gt
target_scale: 1.25
target_offset: 0.0
# params to simulate motion
offset_max: [1., 1., 10.]
up_axis: [0,0,1]
degree: True
train_cfg:
cache: True
preload_offset: 10
use_z: True
eval_cfg:
cache: False
use_z: True
preload_offset: -1
dynamic_threshold: 0.15
# model configs
model_cfg:
model_type: MBPTrack
train_memory_size: 2
# ref_memory_size: 2
eval_memory_size: 3
backbone_cfg:
type: DGCNN
layers_cfg:
- {
mlps: [0, 64, 64, 128],
use_xyz: True,
sample_method: Range,
nsample: 32,
}
- {
mlps: [128, 128, 128, 128],
use_xyz: True,
sample_method: Range,
nsample: 32,
}
- {
mlps: [128, 256, 256, 256],
use_xyz: True,
sample_method: Range,
nsample: 32,
}
out_channels: 128
downsample_ratios: [2,4,8]
transformer_cfg:
feat_dim: 128
layers_cfg:
- {
type: attn,
feat_dim: 128,
num_heads: 1,
attn_dropout: 0.1,
dropout: 0.1,
norm: 'layer_norm',
ffn_cfg: {
hidden_dim: 128,
activation: 'relu',
dropout: 0.1,
use_bias: True,
norm: 'layer_norm'
},
pos_emb_cfg: {
type: mlp
},
}
- {
type: attn,
feat_dim: 128,
num_heads: 1,
attn_dropout: 0.1,
dropout: 0.1,
norm: 'layer_norm',
ffn_cfg: {
hidden_dim: 128,
activation: 'relu',
dropout: 0.1,
use_bias: True,
norm: 'layer_norm'
},
pos_emb_cfg: {
type: mlp
},
}
rpn_cfg:
feat_dim: 128
n_smp_x: 3
n_smp_y: 3
n_smp_z: 5
n_proposals: 64
n_proposals_train: 48
sample_method: shrink
edge_aggr:
pre_mlps: [129, 128, 128]
mlps: [128, 128, 128]
use_xyz: True
nsample: 8
# sigma_n2: 0.15
# fixed_sigma_n2: True
# task configs
task_type: MBPTask
missing_threshold: 0.2
# optimizer & scheduler configs
optimizer_cfg:
optimizer_type: Adam
lr: 0.001
weight_decay: 0
betas: [0.5, 0.999]
eps: 1.0e-6
scheduler_cfg:
scheduler_type: StepLR
step_size: 10
gamma: 0.2
# loss configs
loss_cfg:
mask_weight: 0.2
rfn_obj_weight: 1.0
crs_obj_weight: 1.0
bbox_weight: 1.0
center_weight: 10.0
# train & eval configs
train_cfg:
max_epochs: 60
batch_size: 16
num_workers: 4
save_per_epoch: 10
save_top_k: 5
val_per_epoch: 1
eval_cfg:
batch_size: 1
num_workers: 4
iou_space: 3