LaRa_inCamindexCamrays_outCoord.yaml

# @package _global_


defaults:
  - override /data_aug_conf: fixed_resize_and_crop.yaml
  - override /grid_conf: lift_splat_shoot.yaml
  - override /model: LaRa.yaml
  - override /trainer: ddp.yaml
  - override /optimizer: adamW.yaml

# all parameters below will be merged with parameters from default configurations set above
# this allows you to overwrite only specified parameters

# name of the run determines folder name in logs (usually change by cmd line interface)
name: "default"


model:
  net:
    latent_encoder:
      input_embedding:
        input_embeddings:
          learned_cam_emb:
            _target_: semanticbev.models.components.LaRa_embeddings.LearnedCamInputEmbedding
            num_cams: 6
          cam_rays:
            _target_: semanticbev.models.components.LaRa_embeddings.CamMatrixInputEmbedding

    latent_decoder:
      query_generator:
        query_generators:
          norm_coords:
            _target_: semanticbev.models.components.LaRa_embeddings.CoordConvQueryGenerator
            grid_conf: ${grid_conf}
            with_r: True
            downscale_factor: ${model.net.latent_decoder.output_adapter.downscale_factor}