model:
type: BEVFusion
heads:
object: null
map:
type: BEVSegmentationHead
in_channels: 256
grid_transform:
input_scope: [[-51.2, 51.2, 0.8], [-51.2, 51.2, 0.8]]
output_scope: [[-50, 50, 0.5], [-50, 50, 0.5]]
classes: ${map_classes}
loss: focal