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Add support for CenterPoint on Nuscenes (#786)
* add cbgs_dyn_pp_centerpoint.yaml * add cbgs_voxel01_res3d_centerpoint.yaml * add support of centerpoint on Nuscenes in README
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‎README.md‎

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## Changelog
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[2022-01-14] Added support for dynamic pillar voxelization, following the implementation proposed in `H^23D R-CNN` with unique operation and [`torch_scatter`](https://github.com/rusty1s/pytorch_scatter) package.
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[2022-02-07] Added support for centerpoint models on Nuscenes Dataset.
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[2022-01-14] Added support for dynamic pillar voxelization, following the implementation proposed in [H^23D R-CNN](https://arxiv.org/abs/2107.14391) with unique operation and [`torch_scatter`](https://github.com/rusty1s/pytorch_scatter) package.
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[2022-01-05] **NEW:** Update `OpenPCDet` to v0.5.2:
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* The code of [PV-RCNN++](https://arxiv.org/abs/2102.00463) has been released to this repo, with higher performance, faster training/inference speed and less memory consumption than PV-RCNN.
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| Performance@(train with 100\% Data) | Vec_L1 | Vec_L2 | Ped_L1 | Ped_L2 | Cyc_L1 | Cyc_L2 |
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|---------------------------------------------|----------:|:-------:|:-------:|:-------:|:-------:|:-------:|
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| [SECOND](tools/cfgs/waymo_models/second.yaml) | 72.27/71.69 | 63.85/63.33 | 68.70/58.18 | 60.72/51.31 | 60.62/59.28 | 58.34/57.05|
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| [SECOND](tools/cfgs/waymo_models/second.yaml) | 72.27/71.69 | 63.85/63.33 | 68.70/58.18 | 60.72/51.31 | 60.62/59.28 | 58.34/57.05 |
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| [Part-A2-Anchor](tools/cfgs/waymo_models/PartA2.yaml) | 77.05/76.51 | 68.47/67.97 | 75.24/66.87 | 66.18/58.62 | 68.60/67.36 | 66.13/64.93 |
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| [PV-RCNN (CenterHead)](tools/cfgs/waymo_models/pv_rcnn_with_centerhead_rpn.yaml) | 78.00/77.50 | 69.43/68.98 | 79.21/73.03 | 70.42/64.72 | 71.46/70.27 | 68.95/67.79|
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| [PV-RCNN (CenterHead)](tools/cfgs/waymo_models/pv_rcnn_with_centerhead_rpn.yaml) | 78.00/77.50 | 69.43/68.98 | 79.21/73.03 | 70.42/64.72 | 71.46/70.27 | 68.95/67.79 |
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| [PV-RCNN++](tools/cfgs/waymo_models/pv_rcnn_plusplus.yaml) | 79.10/78.63 | 70.34/69.91 | 80.62/74.62 | 71.86/66.30 | 73.49/72.38 | 70.70/69.62 |
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| [PV-RCNN++ (ResNet)](tools/cfgs/waymo_models/pv_rcnn_plusplus_resnet.yaml) |79.25/78.78 | 70.61/70.18 | 81.83/76.28 | 73.17/68.00 | 73.72/72.66 | 71.21/70.19|
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| [PV-RCNN++ (ResNet)](tools/cfgs/waymo_models/pv_rcnn_plusplus_resnet.yaml) | 79.25/78.78 | 70.61/70.18 | 81.83/76.28 | 73.17/68.00 | 73.72/72.66 | 71.21/70.19 |
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|---------------------------------------------|----------:|:-------:|:-------:|:-------:|:---------:|:-------:|:-------:|:---------:|
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| [PointPillar-MultiHead](tools/cfgs/nuscenes_models/cbgs_pp_multihead.yaml) | 33.87 | 26.00 | 32.07 | 28.74 | 20.15 | 44.63 | 58.23 | [model-23M](https://drive.google.com/file/d/1p-501mTWsq0G9RzroTWSXreIMyTUUpBM/view?usp=sharing) |
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| [SECOND-MultiHead (CBGS)](tools/cfgs/nuscenes_models/cbgs_second_multihead.yaml) | 31.15 | 25.51 | 26.64 | 26.26 | 20.46 | 50.59 | 62.29 | [model-35M](https://drive.google.com/file/d/1bNzcOnE3u9iooBFMk2xK7HqhdeQ_nwTq/view?usp=sharing) |
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| [CenterPoint-PointPillar](tools/cfgs/nuscenes_models/cbgs_dyn_pp_centerpoint.yaml) | 31.13 | 26.04 | 42.92 | 23.90 | 19.14 | 50.03 | 60.70 | [model-23M](https://drive.google.com/file/d/1UvGm6mROMyJzeSRu7OD1leU_YWoAZG7v/view?usp=sharing) |
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| [CenterPoint (voxel_size=0.1)](tools/cfgs/nuscenes_models/cbgs_dyn_pp_centerpoint.yaml) | 30.11 | 25.55 | 38.28 | 21.94 | 18.87 | 56.03 | 64.54 | [model-34M](https://drive.google.com/file/d/1Cz-J1c3dw7JAWc25KRG1XQj8yCaOlexQ/view?usp=sharing) |
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### Other datasets

‎tools/cfgs/nuscenes_models/cbgs_dyn_pp_centerpoint.yaml‎

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CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
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'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml
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POINT_CLOUD_RANGE: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
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DATA_PROCESSOR:
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- NAME: mask_points_and_boxes_outside_range
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REMOVE_OUTSIDE_BOXES: True
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- NAME: shuffle_points
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SHUFFLE_ENABLED: {
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'train': True,
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'test': True
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}
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- NAME: transform_points_to_voxels_placeholder
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VOXEL_SIZE: [0.2, 0.2, 8.0]
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MODEL:
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NAME: CenterPoint
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VFE:
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NAME: DynPillarVFE
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WITH_DISTANCE: False
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USE_ABSLOTE_XYZ: True
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USE_NORM: True
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NUM_FILTERS: [ 64, 64 ]
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MAP_TO_BEV:
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NAME: PointPillarScatter
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NUM_BEV_FEATURES: 64
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BACKBONE_2D:
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NAME: BaseBEVBackbone
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LAYER_NUMS: [3, 5, 5]
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LAYER_STRIDES: [2, 2, 2]
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NUM_FILTERS: [64, 128, 256]
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UPSAMPLE_STRIDES: [0.5, 1, 2]
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NUM_UPSAMPLE_FILTERS: [128, 128, 128]
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DENSE_HEAD:
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NAME: CenterHead
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CLASS_AGNOSTIC: False
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CLASS_NAMES_EACH_HEAD: [
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['car'],
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['truck', 'construction_vehicle'],
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['bus', 'trailer'],
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['barrier'],
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['motorcycle', 'bicycle'],
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['pedestrian', 'traffic_cone'],
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]
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SHARED_CONV_CHANNEL: 64
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USE_BIAS_BEFORE_NORM: True
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NUM_HM_CONV: 2
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SEPARATE_HEAD_CFG:
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HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel']
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HEAD_DICT: {
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'center': {'out_channels': 2, 'num_conv': 2},
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'center_z': {'out_channels': 1, 'num_conv': 2},
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'dim': {'out_channels': 3, 'num_conv': 2},
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'rot': {'out_channels': 2, 'num_conv': 2},
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'vel': {'out_channels': 2, 'num_conv': 2},
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}
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TARGET_ASSIGNER_CONFIG:
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FEATURE_MAP_STRIDE: 4
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NUM_MAX_OBJS: 500
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GAUSSIAN_OVERLAP: 0.1
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MIN_RADIUS: 2
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 0.25,
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0]
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}
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POST_PROCESSING:
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SCORE_THRESH: 0.1
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POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
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MAX_OBJ_PER_SAMPLE: 500
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NMS_CONFIG:
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.2
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NMS_PRE_MAXSIZE: 1000
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NMS_POST_MAXSIZE: 83
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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EVAL_METRIC: kitti
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 4
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NUM_EPOCHS: 20
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OPTIMIZER: adam_onecycle
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LR: 0.001
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WEIGHT_DECAY: 0.01
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.4
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DIV_FACTOR: 10
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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LR_CLIP: 0.0000001
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LR_WARMUP: False
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WARMUP_EPOCH: 1
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GRAD_NORM_CLIP: 10

‎tools/cfgs/nuscenes_models/cbgs_voxel01_res3d_centerpoint.yaml‎

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CLASS_NAMES: ['car','truck', 'construction_vehicle', 'bus', 'trailer',
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'barrier', 'motorcycle', 'bicycle', 'pedestrian', 'traffic_cone']
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DATA_CONFIG:
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_BASE_CONFIG_: cfgs/dataset_configs/nuscenes_dataset.yaml
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MODEL:
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NAME: CenterPoint
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VFE:
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NAME: MeanVFE
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BACKBONE_3D:
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NAME: VoxelResBackBone8x
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MAP_TO_BEV:
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NAME: HeightCompression
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NUM_BEV_FEATURES: 256
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BACKBONE_2D:
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NAME: BaseBEVBackbone
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LAYER_NUMS: [5, 5]
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LAYER_STRIDES: [1, 2]
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NUM_FILTERS: [128, 256]
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UPSAMPLE_STRIDES: [1, 2]
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NUM_UPSAMPLE_FILTERS: [256, 256]
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DENSE_HEAD:
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NAME: CenterHead
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CLASS_AGNOSTIC: False
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CLASS_NAMES_EACH_HEAD: [
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['car'],
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['truck', 'construction_vehicle'],
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['bus', 'trailer'],
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['barrier'],
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['motorcycle', 'bicycle'],
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['pedestrian', 'traffic_cone'],
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]
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SHARED_CONV_CHANNEL: 64
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USE_BIAS_BEFORE_NORM: True
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NUM_HM_CONV: 2
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SEPARATE_HEAD_CFG:
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HEAD_ORDER: ['center', 'center_z', 'dim', 'rot', 'vel']
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HEAD_DICT: {
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'center': {'out_channels': 2, 'num_conv': 2},
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'center_z': {'out_channels': 1, 'num_conv': 2},
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'dim': {'out_channels': 3, 'num_conv': 2},
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'rot': {'out_channels': 2, 'num_conv': 2},
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'vel': {'out_channels': 2, 'num_conv': 2},
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}
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TARGET_ASSIGNER_CONFIG:
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FEATURE_MAP_STRIDE: 8
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NUM_MAX_OBJS: 500
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GAUSSIAN_OVERLAP: 0.1
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MIN_RADIUS: 2
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LOSS_CONFIG:
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LOSS_WEIGHTS: {
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'cls_weight': 1.0,
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'loc_weight': 0.25,
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'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.2, 1.0, 1.0]
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}
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POST_PROCESSING:
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SCORE_THRESH: 0.1
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POST_CENTER_LIMIT_RANGE: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
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MAX_OBJ_PER_SAMPLE: 500
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NMS_CONFIG:
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NMS_TYPE: nms_gpu
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NMS_THRESH: 0.2
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NMS_PRE_MAXSIZE: 1000
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NMS_POST_MAXSIZE: 83
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POST_PROCESSING:
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RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
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EVAL_METRIC: kitti
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OPTIMIZATION:
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BATCH_SIZE_PER_GPU: 4
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NUM_EPOCHS: 30
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OPTIMIZER: adam_onecycle
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LR: 0.003
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WEIGHT_DECAY: 0.01
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MOMENTUM: 0.9
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MOMS: [0.95, 0.85]
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PCT_START: 0.4
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DIV_FACTOR: 10
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DECAY_STEP_LIST: [35, 45]
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LR_DECAY: 0.1
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LR_CLIP: 0.0000001
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LR_WARMUP: False
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WARMUP_EPOCH: 1
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GRAD_NORM_CLIP: 10

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