73 lines
1.7 KiB
YAML
73 lines
1.7 KiB
YAML
|
|
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]
|
|
|