README_aihub.MD

docker build

cd docker
docker build -f minimal.Dockerfile -t openpcdet:cuda11 .

docker run

xhost local:root && docker run -it --rm -e SDL_VIDEODRIVER=x11 -e DISPLAY=$DISPLAY --env='DISPLAY' --gpus all --ipc host --privileged --network host -p 8080:8081 -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v /home/ubuntu:/home/ubuntu -v /weights:/weights openpcdet:cuda11 xfce4-terminal --title=openPCDet

Aihub data download

1. Download dataset
2. extract at /data/robust/
3. folder structure should be

   OpenPCDet
   ├── data
   │   ├── robust
   │   │   │── 1.주간
   ├── pcdet
   ├── tools
   

Aihub data conversion

if python script finds "..../lidar/roof/" directory, copy json and bin files.

python3 convert.py

Dataset pre-prosessing

python3 -m pcdet.datasets.custom.custom_dataset create_custom_infos tools/cfgs/dataset_configs/robust_v1_mini_dataset.yaml

Train

cd tools/
python3 train.py --cfg_file cfgs/custom_models/pointpillar_aihub_robust.yaml --extra_tag "aihub_robust"

Demo

cd tools/
python3 demo.py --cfg_file cfgs/custom_models/pointpillar_robust_v1_mini.yaml --ckpt ../output/custom_models/pointpillar_aihub_robust/aihub_robust/ckpt/latest_model.pth --data_path ../data/robust/points