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