cs pp yaml modify

scripts/total_yamls/total_pointcloud_detectors.yaml

 node1:
-  MAX_POINTS_ALLOWED: 400000
-  MAX_NUM_VOXELS: 150000
+  MAX_NUM_VOXELS: 50000
   MAX_ACTIVE: 400000
-  MAX_NUM_POINTS_PER_VOXEL: 12
+  MAX_NUM_POINTS_PER_VOXEL: 32
+  NUM_HAND_CRAFTED_FEATURES: 10
   NUM_CLASS: 5
-  SCORE_THRESHOLD: 0.4
+  SCORE_THRESHOLD: 0.3
   NMS_OVERLAP_THRESHOLD: 0.1
   NUM_THREADS: 64
   BATCH_SIZE: 1
+  RPN_ENGINE_FILE: s
+  PFE_ENGINE_FILE: s
 
-  VOXEL_SIZES: [0.1, 0.1, 0.125]            # cp voxel
-  GRID_SIZES: [3072, 3072, 40]              # xyz
-  PC_RANGE:   [-153.6, -153.6,-7,153.6,153.6, -2]
-  DS_RATIO: 8                               # ratio of GRID_SIZES to BEV_FEATURE_SIZE
-  BEV_FEATURE_SIZE: [384, 384, 256]         # x y c
-  
-  RPN_ONNX_FILE: cs.onnx
-  CUTCONV_WEIGHTS: cs.weights
-
-  ORIGIN2KITTI: [[0.050645,-0.000283,0.998717,-81.275970,],
-    [-0.011183,-0.999937,0.000283,7.052648,],
-    [0.998654,-0.011183,-0.050645,0.800000,],
-    [0.000000,0.000000,0.000000,1.000000,],
-    ]
+  VOXEL_SIZES: [0.2, 0.2, 5]
+  GRID_SIZES: [1000, 1000, 1]
+  PC_RANGE: [-100,-100,-7,100,100,-2]
+  DS_RATIO: 4
+  BEV_FEATURE_SIZE: [250, 250, 64]
+  RPN_ONNX_FILE: unified_35_and_chengdu_50_pillar_bb.onnx
+  PFE_ONNX_FILE: unified_35_and_chengdu_50_pillar_pfe_50000.onnx
+  USEENGINE: False
+  NUM_HEAD: 1
+  NUM_HEAD_FEAT: 5
+  ORIGIN2KITTI: [[0.999750,-0.000158,-0.022344,-43.366158,],
+                 [-0.000158,0.999900,-0.014170,4.965493,],
+                 [0.022344,0.014170,0.999650,-1.200000,],
+                 [0.000000,0.000000,0.000000,1.000000,],]
                         
 
-  KITTI2ORIGIN: [[0.050645,-0.011183,0.998654,3.396167,],
-    [-0.000284,-0.999938,-0.011183,7.038095,],
-    [0.998716,0.000284,-0.050645,81.210156,],
-    [0.000000,0.000000,0.000000,1.000000,],
-    ]
+  KITTI2ORIGIN: [[0.999750,-0.000158,0.022344,43.382930,],
+                 [-0.000158,0.999900,0.014170,-4.954857,],
+                 [-0.022344,-0.014170,0.999650,0.300965,],
+                 [0.000000,0.000000,0.000000,1.000000,],]
 
   INFER_THRESHOLD:
     CLASS_0: 0.4    # truck
@@ -39,37 +40,38 @@ node1:
     CLASS_4: 0.4    # pedestrain
     
 node2:
-  MAX_POINTS_ALLOWED: 400000
-  MAX_NUM_VOXELS: 150000
+  MAX_NUM_VOXELS: 50000
   MAX_ACTIVE: 400000
-  MAX_NUM_POINTS_PER_VOXEL: 12
+  MAX_NUM_POINTS_PER_VOXEL: 32
+  NUM_HAND_CRAFTED_FEATURES: 10
   NUM_CLASS: 5
-  SCORE_THRESHOLD: 0.4
+  SCORE_THRESHOLD: 0.3
   NMS_OVERLAP_THRESHOLD: 0.1
   NUM_THREADS: 64
   BATCH_SIZE: 1
+  RPN_ENGINE_FILE: s
+  PFE_ENGINE_FILE: s
 
-  VOXEL_SIZES: [0.1, 0.1, 0.125]            # cp voxel
-  GRID_SIZES: [3072, 3072, 40]              # xyz
-  PC_RANGE:   [-153.6, -153.6,-7,153.6,153.6, -2]
-  DS_RATIO: 8                               # ratio of GRID_SIZES to BEV_FEATURE_SIZE
-  BEV_FEATURE_SIZE: [384, 384, 256]         # x y c
-  
-  RPN_ONNX_FILE: cs.onnx
-  CUTCONV_WEIGHTS: cs.weights
-
-  ORIGIN2KITTI: [[0.999907,-0.000186,-0.013612,63.010513,],
-    [-0.000186,0.999629,-0.027250,12.516913,],
-    [0.013612,0.027250,0.999536,-1.600000,],
-    [0.000000,0.000000,0.000000,1.000000,],
-    ]
+  VOXEL_SIZES: [0.2, 0.2, 5]
+  GRID_SIZES: [1000, 1000, 1]
+  PC_RANGE: [-100,-100,-7,100,100,-2]
+  DS_RATIO: 4
+  BEV_FEATURE_SIZE: [250, 250, 64]
+  RPN_ONNX_FILE: unified_35_and_chengdu_50_pillar_bb.onnx
+  PFE_ONNX_FILE: unified_35_and_chengdu_50_pillar_pfe_50000.onnx
+  USEENGINE: False
+  NUM_HEAD: 1
+  NUM_HEAD_FEAT: 5
+  ORIGIN2KITTI: [[0.976220,-0.002876,0.216762,-52.130093,],
+                 [-0.002876,0.999652,0.026214,5.534293,],
+                 [-0.216762,-0.026214,0.975873,0.400000,],
+                 [0.000000,0.000000,0.000000,1.000000,],]
                         
 
-  KITTI2ORIGIN: [[0.999907,-0.000186,0.013612,-62.980574,],
-    [-0.000186,0.999629,0.027250,-12.456976,],
-    [-0.013612,-0.027250,0.999536,2.798023,],
-    [0.000000,0.000000,0.000000,1.000000,],
-    ]
+  KITTI2ORIGIN: [[0.976220,-0.002876,-0.216762,50.993078,],
+                 [-0.002876,0.999652,-0.026214,-5.671799,],
+                 [0.216762,0.026214,0.975873,10.764374,],
+                 [0.000000,0.000000,0.000000,1.000000,],]
 
   INFER_THRESHOLD:
     CLASS_0: 0.4    # truck