49 lines
1.2 KiB
YAML
49 lines
1.2 KiB
YAML
voxel_size: [0.2, 0.2, 8]
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model:
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encoders:
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lidar:
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voxelize_reduce: false
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voxelize:
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max_num_points: 20
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point_cloud_range: ${point_cloud_range}
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voxel_size: ${voxel_size}
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max_voxels: [30000, 60000]
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backbone:
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type: PointPillarsEncoder
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pts_voxel_encoder:
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type: PillarFeatureNet
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in_channels: 5
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feat_channels: [64, 64]
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with_distance: false
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point_cloud_range: ${point_cloud_range}
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voxel_size: ${voxel_size}
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norm_cfg:
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type: BN1d
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eps: 1.0e-3
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momentum: 0.01
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pts_middle_encoder:
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type: PointPillarsScatter
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in_channels: 64
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output_shape: [512, 512]
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decoder:
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backbone:
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in_channels: 64
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out_channels: [64, 128, 256]
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layer_nums: [3, 5, 5]
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layer_strides: [2, 2, 2]
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neck:
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in_channels: [64, 128, 256]
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out_channels: [128, 128, 128]
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upsample_strides: [0.5, 1, 2]
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heads:
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object:
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in_channels: 384
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train_cfg:
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grid_size: [512, 512, 1]
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out_size_factor: 4
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test_cfg:
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out_size_factor: 4
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bbox_coder:
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out_size_factor: 4
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