16 lines
449 B
YAML
16 lines
449 B
YAML
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model:
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encoders:
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camera:
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vtransform:
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type: AwareBEVDepth
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bevdepth_downsample: 16
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bevdepth_refine: false
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depth_loss_factor: 3.0
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in_channels: 512
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out_channels: 64
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feature_size: ${[image_size[0] // 16, image_size[1] // 16]}
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xbound: [-51.2, 51.2, 0.8]
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ybound: [-51.2, 51.2, 0.8]
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zbound: [-10.0, 10.0, 20.0]
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dbound: [1.0, 60.0, 1.0]
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downsample: 1
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