bevdet_r50_4dlongterm_depth.yaml

bev_range: [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
mean: [123.675, 116.28, 103.53]
std: [58.395, 57.12, 57.375]
use_depth: true
use_adj: true
adj_num: 8
transform_size: 6
cam_params_size: 27
sampling: nearest # nearest # or bicubic
data_config:
  Ncams: 6
  cams: [CAM_FRONT_LEFT, CAM_FRONT, CAM_FRONT_RIGHT, CAM_BACK_LEFT, CAM_BACK, CAM_BACK_RIGHT]
  crop: [140, 0]
  flip: true
  input_size: [256, 704]
  resize: [-0.06, 0.11]
  resize_test: 0.0
  rot: [-5.4, 5.4]
  src_size: [900, 1600]
grid_config:
  depth: [1.0, 60.0, 0.5]
  x: [-51.2, 51.2, 0.8]
  y: [-51.2, 51.2, 0.8]
  z: [-5, 3, 8]
model:
  bevpool_channels: 80
  coder:
    code_size: 9
    max_num: 500
    post_center_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
    score_threshold: 0.1
  common_head:
    channels: [2, 1, 3, 2, 2]
    names: [reg, height, dim, rot, vel]
  down_sample: 16
  tasks:
    - class_names:
        [
          car,
          truck,
          construction_vehicle,
          bus,
          trailer,
          barrier,
          motorcycle,
          bicycle,
          pedestrian,
          traffic_cone,
        ]
      num_class: 10
test_cfg:
  max_per_img: 500
  max_pool_nms: false
  min_radius: [4, 12, 10, 1, 0.85, 0.175]
  nms_rescale_factor:
    - [1.0, 0.7, 0.7, 0.4, 0.55, 1.1, 1.0, 1.0, 1.5, 3.5]
  nms_thr: [0.2]
  nms_type: [rotate]
  post_center_limit_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]
  post_max_size: 500
  pre_max_size: 1000
  score_threshold: 0.1