eval_type:
- NuScenes: '~'
  iou_threshold: 0.5
  enable_ignore: true
  eval_class: vehicle
  target_recalls:
  - 0.5
  - 0.6
  - 0.7
  target_precisions:
  - 0.7
  - 0.8
  - 0.9
  eval_bbox_type: all
  horizon_truncate_offset: 1
  max_depth: 30
  image_size:
  - 1920
  - 1280
  eval_cameras:
  - __front_right__
  - __rear_right__
  - __front_left__
  - __rear_left__
- Auto: '~'
  eval_class: vehicle
  iou_thresh: 0.5
  target_recalls:
  - 0.8
  - 0.85
  - 0.9
  - 0.95
  eval_bbox_type: all
  enable_ignore: true
  apply_dist_coeff: true
  proj_z_thresh: 1.5
  lidar_error: true
  y_thresh:
  - -9
  - -6
  - -3
  - 0
  - 3
  - 6
  - 9
  gt_dist_thresh: 30
  eval_cameras:
  - __front_right__
  - __rear_right__
  - __front_left__
  - __rear_left__
  clip_bbox_with_img_size:
  - 1920
  - 1280
  dep_thresh:
  - -30
  - -20
  - -10
  - 0
  - 10
  - 20
  - 30