49 lines
1.2 KiB
YAML
49 lines
1.2 KiB
YAML
|
voxel_size: [0.2, 0.2, 8]
|
||
|
|
|
||
|
|
model:
|
||
|
|
encoders:
|
||
|
|
lidar:
|
||
|
|
voxelize_reduce: false
|
||
|
|
voxelize:
|
||
|
|
max_num_points: 20
|
||
|
|
point_cloud_range: ${point_cloud_range}
|
||
|
|
voxel_size: ${voxel_size}
|
||
|
|
max_voxels: [30000, 60000]
|
||
|
|
backbone:
|
||
|
|
type: PointPillarsEncoder
|
||
|
|
pts_voxel_encoder:
|
||
|
|
type: PillarFeatureNet
|
||
|
|
in_channels: 5
|
||
|
|
feat_channels: [64, 64]
|
||
|
|
with_distance: false
|
||
|
|
point_cloud_range: ${point_cloud_range}
|
||
|
|
voxel_size: ${voxel_size}
|
||
|
|
norm_cfg:
|
||
|
|
type: BN1d
|
||
|
|
eps: 1.0e-3
|
||
|
|
momentum: 0.01
|
||
|
|
pts_middle_encoder:
|
||
|
|
type: PointPillarsScatter
|
||
|
|
in_channels: 64
|
||
|
|
output_shape: [512, 512]
|
||
|
|
decoder:
|
||
|
|
backbone:
|
||
|
|
in_channels: 64
|
||
|
|
out_channels: [64, 128, 256]
|
||
|
|
layer_nums: [3, 5, 5]
|
||
|
|
layer_strides: [2, 2, 2]
|
||
|
|
neck:
|
||
|
|
in_channels: [64, 128, 256]
|
||
|
|
out_channels: [128, 128, 128]
|
||
|
|
upsample_strides: [0.5, 1, 2]
|
||
|
|
heads:
|
||
|
|
object:
|
||
|
|
in_channels: 384
|
||
|
|
train_cfg:
|
||
|
|
grid_size: [512, 512, 1]
|
||
|
|
out_size_factor: 4
|
||
|
|
test_cfg:
|
||
|
|
out_size_factor: 4
|
||
|
|
bbox_coder:
|
||
|
|
out_size_factor: 4
|