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_base_ = './pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb2-2x_lyft-3d.py' |
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|
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model = dict( |
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pts_neck=dict( |
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type='SECONDFPN', |
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_delete_=True, |
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norm_cfg=dict(type='naiveSyncBN2d', eps=1e-3, momentum=0.01), |
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in_channels=[64, 160, 384], |
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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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type='Anchor3DHead', |
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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=[[-80, -80, -1.0715024, 80, 80, -1.0715024], |
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[-80, -80, -0.3033737, 80, 80, -0.3033737], |
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[-80, -80, -0.3519405, 80, 80, -0.3519405], |
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[-80, -80, -0.8871424, 80, 80, -0.8871424], |
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[-80, -80, -0.6276341, 80, 80, -0.6276341], |
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[-80, -80, -1.3220503, 80, 80, -1.3220503], |
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[-80, -80, -1.0709302, 80, 80, -1.0709302], |
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[-80, -80, -0.9122268, 80, 80, -0.9122268], |
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[-80, -80, -1.8012227, 80, 80, -1.8012227]], |
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sizes=[ |
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[4.75, 1.92, 1.71], |
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[10.24, 2.84, 3.44], |
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[12.70, 2.92, 3.42], |
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[6.52, 2.42, 2.34], |
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[8.17, 2.75, 3.20], |
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[2.35, 0.96, 1.59], |
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[1.76, 0.63, 1.44], |
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[0.80, 0.76, 1.76], |
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[0.73, 0.35, 0.50] |
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], |
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rotations=[0, 1.57], |
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reshape_out=True))) |
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