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GETTING_STARTED.md

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Getting Started

Test and evaluate the pretrained models

  • Go to tools:
cd OpenPCDet/tools
  • Test with a pretrained model:
python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --ckpt ${CKPT}
  • For example:
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:
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:
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:
python train.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --epochs 50