{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 7,
   "source": [
    "from mmdet3d.apis import init_model, inference_detector, show_result_meshlab"
   ],
   "outputs": [],
   "metadata": {
    "pycharm": {
     "is_executing": false
    }
   }
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "source": [
    "config_file = '../configs/second/hv_second_secfpn_6x8_80e_kitti-3d-car.py'\n",
    "# download the checkpoint from model zoo and put it in `checkpoints/`\n",
    "checkpoint_file = '../work_dirs/second/epoch_40.pth'"
   ],
   "outputs": [],
   "metadata": {
    "pycharm": {
     "is_executing": false
    }
   }
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "source": [
    "# build the model from a config file and a checkpoint file\n",
    "model = init_model(config_file, checkpoint_file, device='cuda:0')"
   ],
   "outputs": [],
   "metadata": {
    "pycharm": {
     "is_executing": false
    }
   }
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "source": [
    "# test a single sample\n",
    "pcd = 'kitti_000008.bin'\n",
    "result, data = inference_detector(model, pcd)"
   ],
   "outputs": [],
   "metadata": {
    "pycharm": {
     "is_executing": false
    }
   }
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "source": [
    "# show the results\n",
    "out_dir = './'\n",
    "show_result_meshlab(data, result, out_dir)"
   ],
   "outputs": [],
   "metadata": {
    "pycharm": {
     "is_executing": false
    }
   }
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.7"
  },
  "pycharm": {
   "stem_cell": {
    "cell_type": "raw",
    "source": [],
    "metadata": {
     "collapsed": false
    }
   }
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}