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/pointpillar_fsa.yaml --batch_size 4 --ckpt ${SAVED_CKPT_PATH}/pointpillar_fsa.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 For example: sh scripts/dist_train.sh 4 --cfg_file cfgs/kitti_models/pointpillar_fsa.yaml --epochs 80 Train with a single GPU: python train.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --epochs 50