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getting_started.md

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Prerequisites

Please ensure you have prepared the environment and the nuScenes dataset.

Train and Test

Train BEVFormer with 8 GPUs

./tools/dist_train.sh ./projects/configs/bevformer/bevformer_base.py 8

Eval BEVFormer with 8 GPUs

./tools/dist_test.sh ./projects/configs/bevformer/bevformer_base.py ./path/to/ckpts.pth 8

Note: using 1 GPU to eval can obtain slightly higher performance because continuous video may be truncated with multiple GPUs. By default we report the score evaled with 8 GPUs.

Using FP16 to train the model.

The above training script can not support FP16 training, and we provide another script to train BEVFormer with FP16.

./tools/fp16/dist_train.sh ./projects/configs/bevformer_fp16/bevformer_tiny_fp16.py 8

Visualization

see visual.py