GETTING_STARTED.md

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