Getting Started

The LION configs are placed in tools/cfgs/lion_models for Waymo, nuScenes and Argoverse V2 datasets. For ONCE dataset, please refer to tools/cfgs/once_models. For KITTI dataset, refer to tools/cfgs/kitti_models.

Dataset Preparation

LION supports KITTI, nuScenes, Waymo, Argoverse V2 and ONCE dataset. For these dataset preparations, please refer to OpenPCDet.

Training & Testing

Training

• Train with multiple GPUs

sh scripts/dist_train.sh ${NUM_GPUS} --cfg_file ${CONFIG_FILE}

Testing

• Test with single GPU:

python test.py --cfg_file ${CONFIG_FILE} --ckpt ${CKPT}

• Test with multiple GPUs:

sh scripts/dist_test.sh ${NUM_GPUS} --cfg_file ${CONFIG_FILE} --ckpt ${CKPT}