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pcd_demo.py
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pcd_demo.py
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from argparse import ArgumentParser
from mmdet3d.apis import inference_detector, init_detector, show_result_meshlab
def main():
parser = ArgumentParser()
parser.add_argument('pcd', help='Point cloud file')
parser.add_argument('config', help='Config file')
parser.add_argument('checkpoint', help='Checkpoint file')
parser.add_argument(
'--device', default='cuda:0', help='Device used for inference')
parser.add_argument(
'--score-thr', type=float, default=0.6, help='bbox score threshold')
parser.add_argument(
'--out-dir', type=str, default='demo', help='dir to save results')
args = parser.parse_args()
# build the model from a config file and a checkpoint file
model = init_detector(args.config, args.checkpoint, device=args.device)
# test a single image
result, data = inference_detector(model, args.pcd)
# show the results
show_result_meshlab(data, result, args.out_dir)
if __name__ == '__main__':
main()