CenterPoint - Center-based 3D Object Detection and Tracking Clone Repo git clone <URL> git submodule update --init --recursive Data Preparation # Train set python3 tools/create_data.py nuscenes_data_prep --root_path="/workspace/CenterPoint/data/nuScenes" --version="v1.0-trainval" --nsweeps=10 # Test set python3 tools/create_data.py nuscenes_data_prep --root_path="/workspace/CenterPoint/data/nuScenes/v1.0-test" --version="v1.0-test" --nsweeps=10 ROS python3 tools/ros_inference_single_sweep.py Testing - with Optimal Config file cd CenterPoint python3 tools/dist_test.py configs/nusc/voxelnet/nusc_centerpoint_voxelnet_0075voxel_fix_bn_z.py --work_dir ../Checkpoints/nusc_centerpoint_voxelnet_0075voxel_fix_bn_z --checkpoint ../Checkpoints/nusc_centerpoint_voxelnet_0075voxel_fix_bn_z/epoch_20.pth --speed_test To get the video cd CenterPoint/tools mkdir demo python3 demo_only_300_iters.py