{
  "library_name": "torch-pointcloud",
  "name": "second-multihead.nuscenes.openpcdet",
  "task": "detection",
  "hparams": {
    "in_channels": 5,
    "num_classes": 10,
    "voxel_size": [
      0.1,
      0.1,
      0.2
    ],
    "point_cloud_range": [
      -51.2,
      -51.2,
      -5.0,
      51.2,
      51.2,
      3.0
    ],
    "anchor_sizes": [
      [
        4.63,
        1.97,
        1.74
      ],
      [
        6.93,
        2.51,
        2.84
      ],
      [
        6.37,
        2.85,
        3.19
      ],
      [
        10.5,
        2.94,
        3.47
      ],
      [
        12.29,
        2.9,
        3.87
      ],
      [
        0.5,
        2.53,
        0.98
      ],
      [
        2.11,
        0.77,
        1.47
      ],
      [
        1.7,
        0.6,
        1.28
      ],
      [
        0.73,
        0.67,
        1.77
      ],
      [
        0.41,
        0.41,
        1.07
      ]
    ],
    "anchor_bottom_heights": [
      -0.95,
      -0.6,
      -0.225,
      -0.085,
      0.115,
      -1.33,
      -1.085,
      -1.18,
      -0.935,
      -1.285
    ],
    "head_class_groups": [
      [
        0
      ],
      [
        1,
        2
      ],
      [
        3,
        4
      ],
      [
        5
      ],
      [
        6,
        7
      ],
      [
        8,
        9
      ]
    ],
    "feature_map_stride": 8,
    "norm_kwargs": {
      "eps": 0.001,
      "momentum": 0.01
    }
  },
  "input_keys": [
    "voxel",
    "pos_voxel",
    "voxel_num_points",
    "batch_pos_voxel"
  ],
  "dataset": "nuscenes",
  "metrics": {
    "mAP": 50.76,
    "NDS": 61.85
  },
  "classes": [
    "car",
    "truck",
    "construction_vehicle",
    "bus",
    "trailer",
    "barrier",
    "motorcycle",
    "bicycle",
    "pedestrian",
    "traffic_cone"
  ],
  "author": "openpcdet",
  "license": "Apache-2.0"
}