radar_sweeps: 6
radar_max_points: 2500
radar_use_dims: [0, 1, 2, 5, 8, 9, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56]
radar_compensate_velocity: true 
radar_filtering: none

radar_voxel_size: [0.8, 0.8, 8]
image_size: [256, 704]
radar_jitter: 0
radar_normalize: false

model:
  type: BEVFusion
  encoders: null
  fuser: null
  heads:
    map: null


train_pipeline:
  -
    type: LoadMultiViewImageFromFiles
    to_float32: true
  -
    type: LoadPointsFromFile
    coord_type: LIDAR
    load_dim: ${load_dim}
    use_dim: ${use_dim}
    reduce_beams: ${reduce_beams}
    load_augmented: ${load_augmented}
  -
    type: LoadPointsFromMultiSweeps
    sweeps_num: 0
    load_dim: ${load_dim}
    use_dim: ${use_dim}
    reduce_beams: ${reduce_beams}
    pad_empty_sweeps: true
    remove_close: true
    load_augmented: ${load_augmented}
  -
    type: LoadRadarPointsMultiSweeps
    load_dim: 18
    sweeps_num: ${radar_sweeps}
    use_dim: ${radar_use_dims}
    max_num: ${radar_max_points}
    compensate_velocity: ${radar_compensate_velocity}
    filtering: ${radar_filtering}
    normalize: ${radar_normalize}
  -
    type: LoadAnnotations3D
    with_bbox_3d: true
    with_label_3d: true
    with_attr_label: False
  -
    type: ObjectPaste
    stop_epoch: ${gt_paste_stop_epoch}
    db_sampler:
      dataset_root: ${dataset_root}
      info_path: ${'data/nuscenes/' + "nuscenes_dbinfos_train.pkl"}
      rate: 1.0
      prepare: 
        filter_by_difficulty: [-1]
        filter_by_min_points:
          car: 5
          truck: 5
          bus: 5
          trailer: 5
          construction_vehicle: 5
          traffic_cone: 5
          barrier: 5
          motorcycle: 5
          bicycle: 5
          pedestrian: 5
      classes: ${object_classes}
      sample_groups:
        car: 2
        truck: 3
        construction_vehicle: 7
        bus: 4
        trailer: 6
        barrier: 2
        motorcycle: 6
        bicycle: 6
        pedestrian: 2
        traffic_cone: 2
      points_loader:
        type: LoadPointsFromFile
        coord_type: LIDAR
        load_dim: ${load_dim}
        use_dim: ${use_dim}
        reduce_beams: ${reduce_beams}
  -
    type: ImageAug3D
    final_dim: ${image_size}
    resize_lim: ${augment2d.resize[0]}
    bot_pct_lim: [0.0, 0.0]
    rot_lim: ${augment2d.rotate}
    rand_flip: true
    is_train: true
  -
    type: GlobalRotScaleTrans
    resize_lim: ${augment3d.scale}
    rot_lim: ${augment3d.rotate}
    trans_lim: ${augment3d.translate}
    is_train: true
  -
    type: RandomFlip3D
  -
    type: PointsRangeFilter
    point_cloud_range: ${point_cloud_range}
  -
    type: ObjectRangeFilter
    point_cloud_range: ${point_cloud_range}
  -
    type: ObjectNameFilter
    classes: ${object_classes}
  -
    type: ImageNormalize
    mean: [0.485, 0.456, 0.406]
    std: [0.229, 0.224, 0.225]
  - 
    type: GridMask
    use_h: true
    use_w: true
    max_epoch: ${max_epochs}
    rotate: 1
    offset: false
    ratio: 0.5
    mode: 1
    prob: ${augment2d.gridmask.prob}
    fixed_prob: ${augment2d.gridmask.fixed_prob}
  -
    type: PointShuffle
  -
    type: DefaultFormatBundle3D
    classes: ${object_classes}
  -
    type: Collect3D
    keys:
      - img
      - points
      - radar
      - gt_bboxes_3d
      - gt_labels_3d
    meta_keys:
      - camera_intrinsics
      - camera2ego
      - lidar2ego
      - lidar2camera
      - lidar2image
      - camera2lidar
      - img_aug_matrix
      - lidar_aug_matrix
  -
    type: GTDepth
    keyframe_only: true 

test_pipeline:
  -
    type: LoadMultiViewImageFromFiles
    to_float32: true
  -
    type: LoadPointsFromFile
    coord_type: LIDAR
    load_dim: ${load_dim}
    use_dim: ${use_dim}
    reduce_beams: ${reduce_beams}
    load_augmented: ${load_augmented}
  -
    type: LoadPointsFromMultiSweeps
    sweeps_num: 9
    load_dim: ${load_dim}
    use_dim: ${use_dim}
    reduce_beams: ${reduce_beams}
    pad_empty_sweeps: true
    remove_close: true
    load_augmented: ${load_augmented}
  -
    type: LoadRadarPointsMultiSweeps
    load_dim: 18
    sweeps_num: ${radar_sweeps}
    use_dim: ${radar_use_dims}
    max_num: ${radar_max_points}
    compensate_velocity: ${radar_compensate_velocity}
    filtering: ${radar_filtering}
    normalize: ${radar_normalize}
  -
    type: LoadAnnotations3D
    with_bbox_3d: true
    with_label_3d: true
    with_attr_label: False
  -
    type: ImageAug3D
    final_dim: ${image_size}
    resize_lim: ${augment2d.resize[1]}
    bot_pct_lim: [0.0, 0.0]
    rot_lim: [0.0, 0.0]
    rand_flip: false
    is_train: false
  -
    type: GlobalRotScaleTrans
    resize_lim: [1.0, 1.0]
    rot_lim: [0.0, 0.0]
    trans_lim: 0.0
    is_train: false
  -
    type: PointsRangeFilter
    point_cloud_range: ${point_cloud_range}
  -
    type: ImageNormalize
    mean: [0.485, 0.456, 0.406]
    std: [0.229, 0.224, 0.225]
  -
    type: DefaultFormatBundle3D
    classes: ${object_classes}
  -
    type: Collect3D
    keys:
      - img
      - points
      - radar
      - gt_bboxes_3d
      - gt_labels_3d
      #- gt_masks_bev
    meta_keys:
      - camera_intrinsics
      - camera2ego
      - lidar2ego
      - lidar2camera
      - lidar2image
      - camera2lidar
      - img_aug_matrix
      - lidar_aug_matrix
  -
    type: GTDepth
    keyframe_only: true