_base_ = [ '../_base_/models/second_hv_secfpn_kitti.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=[[3.9, 1.6, 1.56]], rotations=[0, 1.57], reshape_out=True)), # model training and testing settings train_cfg=dict( _delete_=True, assigner=dict( type='Max3DIoUAssigner', 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))