Learning

Docs:https://www.yuque.com/huangzhongqing/hre6tf/vy6gd2

# pointpillars
python train.py --cfg_file=cfgs/kitti_models/pointpillar.yaml --batch_size=4 --epochs=10

tensorrt部署参考：

• https://github.com/hova88/OpenPCDet
• https://github.com/hova88/PointPillars_MultiHead_40FPS

Install pcdet toolbox.

pip install -r requirements.txt
python setup.py develop

# pointpillars
python train.py --cfg_file=cfgs/kitti_models/pointpillar.yaml --batch_size=4 --epochs=10

# centerpoint
train.py --cfg_file cfgs/kitti_models/centerpoint.yaml --batch_size 4 --epoch 100
## 报错 RuntimeError: CUDA error: out of memory
train.py --cfg_file cfgs/kitti_models/centerpoint_pillar.yaml --batch_size 4 --epoch 100
python demo.py --cfg_file cfgs/kitti_models/centerpoints.yaml --ckpt ../checkpoints/centerpoint_kitti_80.pth --data_path ../testing/velodyne/000003.bin

Branch

• master：no change
• hcq：learning【当前分支】
• test: trpd

Tips

• 模型配置注释：tools/cfgs/kitti_models/pointpillar.yaml
• 数据集配置注释：tools/cfgs/dataset_configs/kitti_dataset.yaml