Method __init__

(
        self,
        input_size,
        in_channels,
        out_channels,
        feat_down_sample,
        pc_range,
        voxel_size,
        dbound,
        downsample=1,
        loss_depth_weight = 3.0,
        depthnet_cfg=dict(),
        grid_config = None,
        sid=False,
    )