{
  "model": {
    "type": "PointPillars",
    "voxel_size": [
      0.2,
      0.2,
      8.0
    ],
    "pc_range": [
      -51.2,
      -51.2,
      -5.0,
      51.2,
      51.2,
      3.0
    ],
    "num_input_features": 5
  },
  "voxel_generator": {
    "range": [
      -51.2,
      -51.2,
      -5.0,
      51.2,
      51.2,
      3.0
    ],
    "voxel_size": [
      0.2,
      0.2,
      8.0
    ],
    "max_points_in_voxel": 20,
    "max_voxel_num": [
      30000,
      60000
    ]
  },
  "test_cfg": {
    "post_center_limit_range": [
      -61.2,
      -61.2,
      -10.0,
      61.2,
      61.2,
      10.0
    ],
    "max_per_img": 500,
    "nms": {
      "nms_pre_max_size": 1000,
      "nms_post_max_size": 83,
      "nms_iou_threshold": 0.2
    },
    "score_threshold": 0.1,
    "pc_range": [
      -51.2,
      -51.2
    ],
    "out_size_factor": 4,
    "voxel_size": [
      0.2,
      0.2
    ]
  },
  "class_names": [
    "car",
    "truck",
    "construction_vehicle",
    "bus",
    "trailer",
    "barrier",
    "motorcycle",
    "bicycle",
    "pedestrian",
    "traffic_cone"
  ],
  "tasks": [
    {
      "num_class": 1,
      "class_names": [
        "car"
      ]
    },
    {
      "num_class": 2,
      "class_names": [
        "truck",
        "construction_vehicle"
      ]
    },
    {
      "num_class": 2,
      "class_names": [
        "bus",
        "trailer"
      ]
    },
    {
      "num_class": 1,
      "class_names": [
        "barrier"
      ]
    },
    {
      "num_class": 2,
      "class_names": [
        "motorcycle",
        "bicycle"
      ]
    },
    {
      "num_class": 2,
      "class_names": [
        "pedestrian",
        "traffic_cone"
      ]
    }
  ]
}