# Getting Started
The dataset configs are located within [tools/cfgs/dataset_configs](../tools/cfgs/dataset_configs), 
and the model configs are located within [tools/cfgs](../tools/cfgs) for different datasets. 


## Dataset Preparation

Currently we provide the dataloader of KITTI, NuScenes, Waymo, Lyft and Pandaset. If you want to use a custom dataset, Please refer to our [custom dataset template](CUSTOM_DATASET_TUTORIAL.md).

### KITTI Dataset
* Please download the official [KITTI 3D object detection](http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d) dataset and organize the downloaded files as follows (the road planes could be downloaded from [[road plane]](https://drive.google.com/file/d/1d5mq0RXRnvHPVeKx6Q612z0YRO1t2wAp/view?usp=sharing), which are optional for data augmentation in the training):
* If you would like to train [CaDDN](../tools/cfgs/kitti_models/CaDDN.yaml), download the precomputed [depth maps](https://drive.google.com/file/d/1qFZux7KC_gJ0UHEg-qGJKqteE9Ivojin/view?usp=sharing) for the KITTI training set
* NOTE: if you already have the data infos from `pcdet v0.1`, you can choose to use the old infos and set the DATABASE_WITH_FAKELIDAR option in tools/cfgs/dataset_configs/kitti_dataset.yaml as True. The second choice is that you can create the infos and gt database again and leave the config unchanged.

```
OpenPCDet
├── data
│   ├── kitti
│   │   │── ImageSets
│   │   │── training
│   │   │   ├──calib & velodyne & label_2 & image_2 & (optional: planes) & (optional: depth_2)
│   │   │── testing
│   │   │   ├──calib & velodyne & image_2
├── pcdet
├── tools
```

* Generate the data infos by running the following command: 
```python 
python -m pcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml
```

### NuScenes Dataset
* Please download the official [NuScenes 3D object detection dataset](https://www.nuscenes.org/download) and 
organize the downloaded files as follows: 
```
OpenPCDet
├── data
│   ├── nuscenes
│   │   │── v1.0-trainval (or v1.0-mini if you use mini)
│   │   │   │── samples
│   │   │   │── sweeps
│   │   │   │── maps
│   │   │   │── v1.0-trainval  
├── pcdet
├── tools
```

* Install the `nuscenes-devkit` with version `1.0.5` by running the following command: 
```shell script
pip install nuscenes-devkit==1.0.5
```

* Generate the data infos by running the following command (it may take several hours): 
```python 
python -m pcdet.datasets.nuscenes.nuscenes_dataset --func create_nuscenes_infos \
    --cfg_file tools/cfgs/dataset_configs/nuscenes_dataset.yaml \
    --version v1.0-trainval
```

### Waymo Open Dataset
* Please download the official [Waymo Open Dataset](https://waymo.com/open/download/), 
including the training data `training_0000.tar~training_0031.tar` and the validation 
data `validation_0000.tar~validation_0007.tar`.
* Unzip all the above `xxxx.tar` files to the directory of `data/waymo/raw_data` as follows (You could get 798 *train* tfrecord and 202 *val* tfrecord ):  
```
OpenPCDet
├── data
│   ├── waymo
│   │   │── ImageSets
│   │   │── raw_data
│   │   │   │── segment-xxxxxxxx.tfrecord
|   |   |   |── ...
|   |   |── waymo_processed_data_v0_5_0
│   │   │   │── segment-xxxxxxxx/
|   |   |   |── ...
│   │   │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1/  (old, for single-frame)
│   │   │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl  (old, for single-frame)
│   │   │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy (optional, old, for single-frame)
│   │   │── waymo_processed_data_v0_5_0_infos_train.pkl (optional)
│   │   │── waymo_processed_data_v0_5_0_infos_val.pkl (optional)
|   |   |── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0 (new, for single/multi-frame)
│   │   │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl (new, for single/multi-frame)
│   │   │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.np  (new, for single/multi-frame)
 
├── pcdet
├── tools
```
* Install the official `waymo-open-dataset` by running the following command: 
```shell script
pip3 install --upgrade pip
# tf 2.0.0
pip3 install waymo-open-dataset-tf-2-5-0 --user
```

* Extract point cloud data from tfrecord and generate data infos by running the following command (it takes several hours, 
and you could refer to `data/waymo/waymo_processed_data_v0_5_0` to see how many records that have been processed): 
```python 
# only for single-frame setting
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos \
    --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml

# for single-frame or multi-frame setting
python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos \
    --cfg_file tools/cfgs/dataset_configs/waymo_dataset_multiframe.yaml
# Ignore 'CUDA_ERROR_NO_DEVICE' error as this process does not require GPU.
```

Note that you do not need to install `waymo-open-dataset` if you have already processed the data before and do not need to evaluate with official Waymo Metrics. 


### Lyft Dataset
* Please download the official [Lyft Level5 perception dataset](https://level-5.global/data/perception) and 
organize the downloaded files as follows: 
```
OpenPCDet
├── data
│   ├── lyft
│   │   │── ImageSets
│   │   │── trainval
│   │   │   │── data & maps(train_maps) & images(train_images) & lidar(train_lidar) & train_lidar
│   │   │── test
│   │   │   │── data & maps(test_maps) & test_images & test_lidar
├── pcdet
├── tools
```

* Install the `lyft-dataset-sdk` with version `0.0.8` by running the following command: 
```shell script
pip install -U lyft_dataset_sdk==0.0.8
```

* Generate the training & validation data infos by running the following command (it may take several hours): 
```python 
python -m pcdet.datasets.lyft.lyft_dataset --func create_lyft_infos \
    --cfg_file tools/cfgs/dataset_configs/lyft_dataset.yaml
```
* Generate the test data infos by running the following command: 
```python 
python -m pcdet.datasets.lyft.lyft_dataset --func create_lyft_infos \
    --cfg_file tools/cfgs/dataset_configs/lyft_dataset.yaml --version test
```

* You need to check carefully since we don't provide a benchmark for it.


## Pretrained Models
If you would like to train [CaDDN](../tools/cfgs/kitti_models/CaDDN.yaml), download the pretrained [DeepLabV3 model](https://download.pytorch.org/models/deeplabv3_resnet101_coco-586e9e4e.pth) and place within the `checkpoints` directory. Please make sure the [kornia](https://github.com/kornia/kornia) is installed since it is needed for `CaDDN`.
```
OpenPCDet
├── checkpoints
│   ├── deeplabv3_resnet101_coco-586e9e4e.pth
├── data
├── pcdet
├── tools
```

## Training & Testing


### Test and evaluate the pretrained models
* Test with a pretrained model: 
```shell script
python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --ckpt ${CKPT}
```

* To test all the saved checkpoints of a specific training setting and draw the performance curve on the Tensorboard, add the `--eval_all` argument: 
```shell script
python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --eval_all
```

* To test with multiple GPUs:
```shell script
sh scripts/dist_test.sh ${NUM_GPUS} \
    --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE}

# or

sh scripts/slurm_test_mgpu.sh ${PARTITION} ${NUM_GPUS} \
    --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE}
```


### Train a model
You could optionally add extra command line parameters `--batch_size ${BATCH_SIZE}` and `--epochs ${EPOCHS}` to specify your preferred parameters. 
  

* Train with multiple GPUs or multiple machines
```shell script
sh scripts/dist_train.sh ${NUM_GPUS} --cfg_file ${CONFIG_FILE}

# or 

sh scripts/slurm_train.sh ${PARTITION} ${JOB_NAME} ${NUM_GPUS} --cfg_file ${CONFIG_FILE}
```

* Train with a single GPU:
```shell script
python train.py --cfg_file ${CONFIG_FILE}
```