_base_ = [
    '../_base_/models/hv_second_secfpn.py',
    '../_base_/datasets/kitti-3d-car.py', '../_base_/schedules/cyclic_40e.py',
    '../_base_/default_runtime.py'
]
point_cloud_range = [0, -40, -3, 70.4, 40, 1]
model = dict(
    bbox_head=dict(
        type='Anchor3DHead',
        num_classes=1,
        anchor_generator=dict(
            _delete_=True,
            type='Anchor3DRangeGenerator',
            ranges=[[0, -40.0, -1.78, 70.4, 40.0, -1.78]],
            sizes=[[1.6, 3.9, 1.56]],
            rotations=[0, 1.57],
            reshape_out=True)))
# model training and testing settings
train_cfg = dict(
    _delete_=True,
    assigner=dict(
        type='MaxIoUAssigner',
        iou_calculator=dict(type='BboxOverlapsNearest3D'),
        pos_iou_thr=0.6,
        neg_iou_thr=0.45,
        min_pos_iou=0.45,
        ignore_iof_thr=-1),
    allowed_border=0,
    pos_weight=-1,
    debug=False)
