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GETTING_STARTED_PRETRAIN_PC.md

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Getting Started for Point Cloud Pre-training

Please download and preprocess the point cloud datasets according to the dataset guidance

Pre-training Backbone Network using PointContrast on ONCE

  • a) Train PV-RCNN++ backbone with PointContrast using multiple GPUs
sh scripts/PRETRAIN/dist_train_pointcontrast.sh ${NUM_GPUs} \
--cfg_file ./cfgs/once_models/unsupervised_model/pointcontrast_pvrcnn_res_plus_backbone.yaml \
--batch_size 4 \
--epochs 30

or

  • a) Train PV-RCNN++ backbone with PointContrast using multiple machines
sh scripts/PRETRAIN/slurm_train_pointcontrast.sh ${PARTITION} ${JOB_NAME} ${NUM_NODES} \
--cfg_file ./cfgs/once_models/unsupervised_model/pointcontrast_pvrcnn_res_plus_backbone.yaml \
--batch_size 4 \
--epochs 30
  • b) Fine-tuning PV-RCNN++ on other 3D datasets such as Waymo

Note that you need to set the --pretrained_model ${PRETRAINED_MODEL} using the checkpoint obtained in the above-mentioned pre-training processor.

sh scripts/dist_train.sh ${NUM_GPUs} \
--cfg_file ${CONFIG_FILE} \
--batch_size ${BATCH_SIZE} \
--pretrained_model ${PRETRAINED_MODEL}