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_base_ = [ |
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'../_base_/models/pointpillars_hv_fpn_nus.py', |
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'../_base_/datasets/nus-3d.py', |
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'../_base_/schedules/schedule-2x.py', |
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'../_base_/default_runtime.py', |
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] |
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model = dict( |
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pts_neck=dict( |
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_delete_=True, |
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type='SECONDFPN', |
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norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01), |
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in_channels=[64, 128, 256], |
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upsample_strides=[1, 2, 4], |
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out_channels=[128, 128, 128]), |
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pts_bbox_head=dict( |
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in_channels=384, |
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feat_channels=384, |
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anchor_generator=dict( |
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_delete_=True, |
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type='AlignedAnchor3DRangeGenerator', |
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ranges=[ |
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[-49.6, -49.6, -1.80032795, 49.6, 49.6, -1.80032795], |
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[-49.6, -49.6, -1.74440365, 49.6, 49.6, -1.74440365], |
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[-49.6, -49.6, -1.68526504, 49.6, 49.6, -1.68526504], |
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[-49.6, -49.6, -1.67339111, 49.6, 49.6, -1.67339111], |
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[-49.6, -49.6, -1.61785072, 49.6, 49.6, -1.61785072], |
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[-49.6, -49.6, -1.80984986, 49.6, 49.6, -1.80984986], |
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[-49.6, -49.6, -1.763965, 49.6, 49.6, -1.763965], |
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], |
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sizes=[ |
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[4.60718145, 1.95017717, 1.72270761], |
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[6.73778078, 2.4560939, 2.73004906], |
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[12.01320693, 2.87427237, 3.81509561], |
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[1.68452161, 0.60058911, 1.27192197], |
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[0.7256437, 0.66344886, 1.75748069], |
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[0.40359262, 0.39694519, 1.06232151], |
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[0.48578221, 2.49008838, 0.98297065], |
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], |
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custom_values=[0, 0], |
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rotations=[0, 1.57], |
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reshape_out=True))) |
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train_cfg = dict(val_interval=24) |
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