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cont-occ_8xb1_embodiedscan-occ-80class.py
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_base_ = ['../default_runtime.py']
n_points = 100000
# origin for multi-view scannet is set to 0.5
# -1.28~1.28 -> -0.78~1.78
point_cloud_range = [-3.2, -3.2, -0.78, 3.2, 3.2, 1.78]
prior_generator = dict(type='AlignedAnchor3DRangeGenerator',
ranges=[[-3.2, -3.2, -1.28, 3.2, 3.2, 1.28]],
rotations=[.0])
model = dict(
type='EmbodiedOccPredictor',
use_valid_mask=False,
use_xyz_feat=True,
point_cloud_range=point_cloud_range,
data_preprocessor=dict(type='Det3DDataPreprocessor',
mean=[123.675, 116.28, 103.53],
std=[58.395, 57.12, 57.375],
bgr_to_rgb=True,
pad_size_divisor=32,
batchwise_inputs=True),
backbone=dict(type='mmdet.ResNet',
depth=50,
num_stages=4,
out_indices=(0, 1, 2, 3),
frozen_stages=1,
norm_cfg=dict(type='BN', requires_grad=False),
norm_eval=True,
init_cfg=dict(type='Pretrained',
checkpoint='torchvision://resnet50'),
style='pytorch'),
neck=dict(type='mmdet.FPN',
in_channels=[256, 512, 1024, 2048],
out_channels=256,
num_outs=4),
backbone_3d=dict(type='MinkResNet', in_channels=3, depth=34),
neck_3d=dict(type='IndoorImVoxelNeck',
in_channels=256 + 512,
out_channels=128,
n_blocks=[1, 1, 1]),
bbox_head=dict(
type='ImVoxelOccHead',
volume_h=[20, 10, 5],
volume_w=[20, 10, 5],
volume_z=[8, 4, 2],
num_classes=81, # TO Be changed
in_channels=[128, 128, 128],
use_semantic=True),
prior_generator=prior_generator,
n_voxels=[40, 40, 16], # voxel_size=(.16, .16, .16)
coord_type='DEPTH',
)
dataset_type = 'EmbodiedScanDataset'
data_root = 'data'
class_names = ('floor', 'wall', 'chair', 'cabinet', 'door', 'table', 'couch',
'shelf', 'window', 'bed', 'curtain', 'desk', 'doorframe',
'plant', 'stairs', 'pillow', 'wardrobe', 'picture', 'bathtub',
'box', 'counter', 'bench', 'stand', 'rail', 'sink', 'clothes',
'mirror', 'toilet', 'refrigerator', 'lamp', 'book', 'dresser',
'stool', 'fireplace', 'tv', 'blanket', 'commode',
'washing machine', 'monitor', 'window frame', 'radiator', 'mat',
'shower', 'rack', 'towel', 'ottoman', 'column', 'blinds',
'stove', 'bar', 'pillar', 'bin', 'heater', 'clothes dryer',
'backpack', 'blackboard', 'decoration', 'roof', 'bag', 'steps',
'windowsill', 'cushion', 'carpet', 'copier', 'board',
'countertop', 'basket', 'mailbox', 'kitchen island',
'washbasin', 'bicycle', 'drawer', 'oven', 'piano',
'excercise equipment', 'beam', 'partition', 'printer',
'microwave', 'frame')
metainfo = dict(classes=class_names,
occ_classes=class_names,
box_type_3d='euler-depth')
backend_args = None
train_pipeline = [
dict(type='LoadAnnotations3D',
with_occupancy=True,
with_visible_occupancy_masks=True,
with_visible_instance_masks=True),
dict(type='MultiViewPipeline',
n_images=10,
transforms=[
dict(type='LoadImageFromFile', backend_args=backend_args),
dict(type='LoadDepthFromFile', backend_args=backend_args),
dict(type='ConvertRGBDToPoints', coord_type='CAMERA'),
dict(type='PointSample', num_points=n_points // 10),
dict(type='Resize', scale=(480, 480), keep_ratio=False)
]),
dict(type='AggregateMultiViewPoints', coord_type='DEPTH',
save_slices=True),
dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
# dict(type='PointSample', num_points=n_points),
dict(type='ConstructMultiSweeps'),
dict(
type='Pack3DDetInputs',
keys=['img', 'points', 'gt_bboxes_3d', 'gt_labels_3d', 'gt_occupancy'])
]
test_pipeline = [
dict(type='LoadAnnotations3D',
with_occupancy=True,
with_visible_occupancy_masks=True,
with_visible_instance_masks=True),
dict(type='MultiViewPipeline',
n_images=20,
ordered=True,
transforms=[
dict(type='LoadImageFromFile', backend_args=backend_args),
dict(type='LoadDepthFromFile', backend_args=backend_args),
dict(type='ConvertRGBDToPoints', coord_type='CAMERA'),
dict(type='PointSample', num_points=n_points // 10),
dict(type='Resize', scale=(480, 480), keep_ratio=False)
]),
dict(type='AggregateMultiViewPoints', coord_type='DEPTH',
save_slices=True),
dict(type='PointsRangeFilter', point_cloud_range=point_cloud_range),
dict(type='ConstructMultiSweeps'),
dict(
type='Pack3DDetInputs',
keys=['img', 'points', 'gt_bboxes_3d', 'gt_labels_3d', 'gt_occupancy'])
]
train_dataloader = dict(batch_size=1,
num_workers=1,
persistent_workers=True,
sampler=dict(type='DefaultSampler', shuffle=True),
dataset=dict(type=dataset_type,
data_root=data_root,
ann_file='embodiedscan_infos_train.pkl',
pipeline=train_pipeline,
test_mode=False,
filter_empty_gt=True,
box_type_3d='Euler-Depth',
metainfo=metainfo))
val_dataloader = dict(batch_size=1,
num_workers=1,
persistent_workers=True,
drop_last=False,
sampler=dict(type='DefaultSampler', shuffle=False),
dataset=dict(type=dataset_type,
data_root=data_root,
ann_file='embodiedscan_infos_val.pkl',
pipeline=test_pipeline,
test_mode=True,
filter_empty_gt=True,
box_type_3d='Euler-Depth',
metainfo=metainfo))
test_dataloader = val_dataloader
val_evaluator = dict(type='OccupancyMetric', batchwise_anns=True)
test_evaluator = val_evaluator
train_cfg = dict(type='EpochBasedTrainLoop', max_epochs=24, val_interval=1)
val_cfg = dict(type='ValLoop')
test_cfg = dict(type='TestLoop')
# optimizer
optim_wrapper = dict(type='OptimWrapper',
optimizer=dict(type='AdamW', lr=1e-4, weight_decay=0.01),
clip_grad=dict(max_norm=35., norm_type=2))
param_scheduler = dict(type='MultiStepLR',
begin=0,
end=24,
by_epoch=True,
milestones=[16, 22],
gamma=0.1)
custom_hooks = [dict(type='EmptyCacheHook', after_iter=True)]
# hooks
default_hooks = dict(
checkpoint=dict(type='CheckpointHook', interval=1, max_keep_ckpts=1))
# runtime
find_unused_parameters = True # only 1 of 4 FPN outputs is used