38 lines
883 B
YAML
38 lines
883 B
YAML
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voxel_size: [0.075, 0.075, 0.2]
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point_cloud_range: [-54.0, -54.0, -5.0, 54.0, 54.0, 3.0]
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model:
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encoders:
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lidar:
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voxelize:
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max_num_points: 10
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point_cloud_range: ${point_cloud_range}
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voxel_size: ${voxel_size}
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max_voxels: [120000, 160000]
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backbone:
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type: SparseEncoder
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in_channels: 5
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sparse_shape: [1440, 1440, 41]
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output_channels: 128
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order:
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- conv
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- norm
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- act
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encoder_channels:
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- [16, 16, 32]
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- [32, 32, 64]
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- [64, 64, 128]
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- [128, 128]
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encoder_paddings:
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- [0, 0, 1]
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- [0, 0, 1]
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- [0, 0, [1, 1, 0]]
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- [0, 0]
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block_type: basicblock
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heads:
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object:
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train_cfg:
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grid_size: [1440, 1440, 41]
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test_cfg:
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grid_size: [1440, 1440, 41]
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