{
  "model": {
    "bev_h": 50,
    "bev_w": 50,
    "num_query": 900,
    "num_classes": 10,
    "transformer": {
      "embed_dims": 256,
      "bev_h": 50,
      "bev_w": 50
    },
    "bbox_coder": {
      "pc_range": [
        -51.2,
        -51.2,
        -5.0,
        51.2,
        51.2,
        3.0
      ],
      "post_center_range": [
        -61.2,
        -61.2,
        -10.0,
        61.2,
        61.2,
        10.0
      ],
      "max_num": 300,
      "num_classes": 10
    }
  },
  "dataset": {
    "class_names": [
      "car",
      "truck",
      "construction_vehicle",
      "bus",
      "trailer",
      "barrier",
      "motorcycle",
      "bicycle",
      "pedestrian",
      "traffic_cone"
    ]
  },
  "img_norm": {
    "mean": [
      123.675,
      116.28,
      103.53
    ],
    "std": [
      58.395,
      57.12,
      57.375
    ],
    "to_rgb": true
  },
  "point_cloud_range": [
    -51.2,
    -51.2,
    -5.0,
    51.2,
    51.2,
    3.0
  ]
}