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globals:
  repo_url: https://github.com/open-mmlab/mmdetection3d/tree/main
  codebase_dir: ../mmdetection3d
  checkpoint_force_download: False
  images:
    kitti_input: &kitti_input ../mmdetection3d/demo/data/kitti/000008.bin
    nus_input: &nus_input tests/data/n008-2018-08-01-15-16-36-0400__LIDAR_TOP__1533151612397179.pcd.bin
    nus_pkl_input: &nus_pkl_input tests/test_codebase/test_mmdet3d/data/nuscenes/n015-2018-07-24-11-22-45+0800.pkl

  metric_info: &metric_info
    AP: # named after metafile.Results.Metrics
      eval_name: bbox # test.py --metrics args
      metric_key: bbox_mAP # eval OrderedDict key name
      tolerance: 1 # metric ±n%
      task_name: 3D Object Detection # metafile.Results.Task
      dataset: KITTI # metafile.Results.Dataset
    mAP:
      eval_name: bbox
      metric_key: bbox_mAP
      tolerance: 1 # metric ±n%
      task_name: 3D Object Detection
      dataset: nuScenes
    NDS:
      eval_name: bbox
      metric_key: bbox_mAP
      tolerance: 1 # metric ±n%
      task_name: 3D Object Detection
      dataset: nuScenes
  backend_test: &default_backend_test False

  convert_image: &convert_image
    input_img: *kitti_input
    test_img: *kitti_input

  convert_image_nus: &convert_image_nus
    input_img: *nus_input
    test_img: *nus_input

  convert_image_nus_pkl: &convert_image_nus_pkl
    input_img: *nus_pkl_input
    test_img: *nus_pkl_input

onnxruntime:
  # ======= voxel-detection =======
  pipeline_ort_voxel_dynamic_kitti_fp32: &pipeline_ort_voxel_dynamic_kitti_fp32
    convert_image: *convert_image
    backend_test: False
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_onnxruntime_dynamic.py

  pipeline_ort_voxel_dynamic_kitti_fp16: &pipeline_ort_voxel_dynamic_kitti_fp16
    convert_image: *convert_image
    backend_test: False
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_onnxruntime-fp16_dynamic.py

  pipeline_ort_voxel_dynamic_nus_fp32: &pipeline_ort_voxel_dynamic_nus_fp32
    convert_image: *convert_image_nus
    backend_test: False
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_onnxruntime_dynamic.py

  # ======= mono-detection =======
  pipeline_ort_mono_dynamic_nus_fp32: &pipeline_ort_mono_dynamic_nus_fp32
    convert_image: *convert_image_nus_pkl
    backend_test: False
    deploy_config: configs/mmdet3d/mono-detection/mono-detection_onnxruntime_dynamic.py

  pipeline_ort_mono_dynamic_nus_fp16: &pipeline_ort_mono_dynamic_nus_fp16
    convert_image: *convert_image_nus_pkl
    backend_test: False
    deploy_config: configs/mmdet3d/mono-detection/mono-detection_onnxruntime-fp16_dynamic.py

tensorrt:
  # ======= voxel-detection =======
  pipeline_trt_voxel_dynamic_nus_fp32_64x4: &pipeline_trt_voxel_dynamic_nus_fp32_64x4
    convert_image: *convert_image_nus
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_tensorrt_dynamic-nus-64x4.py

  pipeline_trt_voxel_dynamic_nus_fp32_20x5: &pipeline_trt_voxel_dynamic_nus_fp32_20x5
    convert_image: *convert_image_nus
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_tensorrt_dynamic-nus-20x5.py

  pipeline_trt_voxel_dynamic_kitti_fp32: &pipeline_trt_voxel_dynamic_kitti_fp32
    convert_image: *convert_image
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_tensorrt_dynamic-kitti-32x4.py

  # ======= mono-detection =======
  pipeline_trt_mono_dynamic_nus_fp32: &pipeline_trt_mono_dynamic_nus_fp32
    convert_image: *convert_image_nus_pkl
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/mono-detection/mono-detection_tensorrt_dynamic-320x320-1344x1344.py

openvino:
  # ======= voxel-detection =======
  pipeline_openvino_voxel_dynamic_kitti_fp32: &pipeline_openvino_voxel_dynamic_kitti_fp32
    convert_image: *convert_image
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_openvino_dynamic-kitti-32x4.py

  pipeline_openvino_voxel_dynamic_nus_fp32_64x4: &pipeline_openvino_voxel_dynamic_nus_fp32_64x4
    convert_image: *convert_image_nus
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_openvino_dynamic-nus-64x4.py

  pipeline_openvino_voxel_dynamic_nus_fp32_20x5: &pipeline_openvino_voxel_dynamic_nus_fp32_20x5
    convert_image: *convert_image_nus
    backend_test: *default_backend_test
    deploy_config: configs/mmdet3d/voxel-detection/voxel-detection_openvino_dynamic-nus-20x5.py

models:
  - name: PointPillars
    metafile: configs/pointpillars/metafile.yml
    model_configs:
      - configs/pointpillars/pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py
      - configs/pointpillars/pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py
    pipelines:
      - *pipeline_ort_voxel_dynamic_kitti_fp16
      - *pipeline_openvino_voxel_dynamic_kitti_fp32
      - *pipeline_trt_voxel_dynamic_kitti_fp32
  - name: PointPillars
    metafile: configs/pointpillars/metafile.yml
    model_configs:
      - configs/pointpillars/pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d.py
    pipelines:
      - *pipeline_ort_voxel_dynamic_nus_fp32
      - *pipeline_openvino_voxel_dynamic_nus_fp32_64x4
      - *pipeline_trt_voxel_dynamic_nus_fp32_64x4
  - name: CenterPoint
    metafile: configs/centerpoint/metafile.yml
    model_configs:
      - configs/centerpoint/centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py
    pipelines:
      - *pipeline_ort_voxel_dynamic_nus_fp32
      - *pipeline_openvino_voxel_dynamic_nus_fp32_20x5
      - *pipeline_trt_voxel_dynamic_nus_fp32_20x5
  - name: SMOKE
    metafile: configs/smoke/metafile.yml
    model_configs:
      - configs/smoke/smoke_dla34_dlaneck_gn-all_4xb8-6x_kitti-mono3d.py
    pipelines:
      - *pipeline_ort_mono_dynamic_nus_fp32
      - *pipeline_trt_mono_dynamic_nus_fp32