wget https://www.python.org/ftp/python/3.9.17/Python-3.9.17.tar.xz tar xfv Python-3.9.17.tar.xz cd Python-3.9.17/ ./configure --prefix=$PWD/Python-3.9.17/Python make make install

ADD PYTHON3.9 to ~/.bashrc (export PATH=$HOME...python3.9.x/bin....) and refresh with "source ~/.bashrc"

Install

python3.9 -m venv venv
source venv/bin/activate
pip install --upgrade pip setuptools wheel
pip install -r requirements.txt
pip install -r requirements_cu111.txt
# pip install -r requirements_cu116.txt # alternative
# install frameworks OpenPCDet & dcn operator
python setup.py develop
cd pcdet/ops/dcn
python setup.py develop

# vis utils
pip install --trusted-host www.open3d.org -f http://www.open3d.org/docs/latest/getting_started.html open3d

Data versioning

pip install dvc[s3]

Data

Datasets

• Once. Sber S3 Link
• Waymo. Sber S3 Link

Set up datasets

make link_once_pcdet
make link_waymo_pcdet
make link_waymo_pcdet_processed
dvc pull

Benchmark

Please refer to this page for detailed legacy benchmark results.

Detection Models

We provide 1 fusion-based and 5 point cloud based 3D detectors. The training configurations are at tools/cfgs/once_models/sup_models/*.yaml

For PointPainting, you have to first produce segmentation results yourself. We used HRNet (pytorch version 1.1) trained on CityScapes to generate segmentation masks.

Semi-supervised Learning

We provide 5 semi-supervised methods based on the SECOND detector. The training configurations are at tools/cfgs/once_models/semi_learning_models/*.yaml