_base_ = [
    './model/fvnet_fv.py', './dataset/fv-kitti-3d-car.py',
    '../_base_/default_runtime.py'
]

train_cfg = dict(
    assigner=dict(type='InBoxAssigner'),
    allowed_border=0,
    pos_weight=-1,
    debug=False)
test_cfg = dict(
    use_rotate_nms=True,
    nms_across_levels=False,
    nms_thr=0.01,
    score_thr=0.5,
    min_bbox_size=0,
    max_num=50)

# optimizer
# This schedule is mainly used by models on indoor dataset,
# e.g., VoteNet on SUNRGBD and ScanNet
lr = 0.008  # max learning rate
optimizer = dict(type='AdamW', lr=lr, weight_decay=0.01)
optimizer_config = dict(grad_clip=dict(max_norm=10, norm_type=2))
lr_config = dict(policy='step', warmup=None, step=[48, 64])
# runtime settings
total_epochs = 75
