Getting Started

Test and evaluate the pretrained models

• Go to tools:

  cd OpenPCDet/tools
  

• Test with a pretrained model: shell script python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --ckpt ${CKPT}

• For example: shell script python test.py --cfg_file cfgs/kitti_models/def_pv_rcnn.yaml --batch_size 4 --ckpt ${SAVED_CKPT_PATH}/def_pv_rcnn.pth

Train a model

• Train with multiple GPUs: shell script sh scripts/dist_train.sh ${NUM_GPUS} --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --epochs 80 We use --batch_size as 16.

• For example: shell script sh scripts/dist_train.sh 8 --cfg_file cfgs/kitti_models/def_pv_rcnn.yaml --batch_size 16 --epochs 80

• Train with a single GPU: shell script python train.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --epochs 50