data:
  train:
    dataset:
      ann_file: nuscenes_radar/nuscenes_radar_infos_train_radar.pkl
  val:
    ann_file: nuscenes_radar/nuscenes_radar_infos_val_radar.pkl
  test:
    ann_file: nuscenes_radar/nuscenes_radar_infos_val_radar.pkl
    
augment2d:
  resize: [[0.38, 0.55], [0.48, 0.48]]

augment3d:
  scale: [0.9, 1.1]
  rotate: [0, 0]
  translate: 0.5

model:
  encoders:
    lidar: null
    camera:
      vtransform:
        type: LSSTransform
        image_size: ${image_size}
        xbound: [-51.2, 51.2, 0.8]
        ybound: [-51.2, 51.2, 0.8]
        zbound: [-10.0, 10.0, 20.0]
        dbound: [1.0, 60.0, 1.0]
    radar:
      voxelize_reduce: false
      voxelize:
        max_num_points: 20
        point_cloud_range: ${point_cloud_range}
        voxel_size: ${radar_voxel_size}
        max_voxels: [30000, 60000]
      backbone:
        type: RadarEncoder
        pts_voxel_encoder:
          type: RadarFeatureNet
          in_channels: 45
          feat_channels: [128, 128, 128, 64]
          with_distance: false
          point_cloud_range: ${point_cloud_range}
          voxel_size: ${radar_voxel_size}
          norm_cfg:
            type: BN1d
            eps: 1.0e-3
            momentum: 0.01
        pts_middle_encoder:
          type: PointPillarsScatter
          in_channels: 64
          output_shape: [128, 128]
        pts_bev_encoder: null
  heads:
    object:
      test_cfg:
        nms_type:
          - circle
          - rotate
          - rotate
          - circle
          - rotate
          - rotate
        nms_scale:
          - [1.0]
          - [1.0, 1.0]
          - [1.0, 1.0]
          - [1.0]
          - [1.0, 1.0]
          - [2.5, 4.0]