点云目标检测之CenterPoint配置过程_CenterPoint?

原作者地址：https://github.com/tianweiy/CenterPoint

在conda中配置虚拟环境

# basic python libraries
conda create --name centerpoint python=3.6
conda activate centerpoint
conda install pytorch==1.1.0 torchvision==0.3.0 cudatoolkit=10.0 -c pytorch
git clone https://github.com/tianweiy/CenterPoint.git
cd CenterPoint
pip install -r requirements.txt

# add CenterPoint to PYTHonPATH by adding the following line to ~/.bashrc (change the path accordingly)
export PYTHonPATH="${PYTHONPATH}:PATH_TO_CENTERPOINT"

nuScenes dev-kit

git clone https://github.com/tianweiy/nuscenes-devkit

# add the following line to ~/.bashrc and reactivate bash (remember to change the PATH_TO_NUSCENES_DEVKIT value)
export PYTHonPATH="${PYTHONPATH}:PATH_TO_NUSCENES_DEVKIT/python-sdk"

Cuda Extensions（更新到自己的版本比如11.3）

# set the cuda path(change the path to your own cuda location) 
export PATH=/usr/local/cuda-11.3/bin:$PATH
export CUDA_PATH=/usr/local/cuda-11.3
export CUDA_HOME=/usr/local/cuda-11.3
export LD_LIBRARY_PATH=/usr/local/cuda-11.3/lib64:$LD_LIBRARY_PATH

# Rotated NMS 
cd ROOT_DIR/det3d/ops/iou3d_nms
python setup.py build_ext --inplace

# Deformable Convolution (Optional and only works with old torch versions e.g. 1.1)
cd ROOT_DIR/det3d/ops/dcn
python setup.py build_ext --inplace

或者执行 根目录下bash setup.sh

APEX (Optional)

git clone https://github.com/NVIDIA/apex
cd apex
git checkout 5633f6  # recent commit doesn't build in our system
#有错误可去掉--global-option="--cuda_ext" 
pip install -v --no-cache-dir --global-option="--cpp_ext" --global-option="--cuda_ext" ./

spconv（建议checkout v1.2.1）

sudo apt-get install libboost-all-dev
git clone https://github.com/traveller59/spconv.git --recursive
cd spconv && git checkout 7342772
#如果出现nvcc fatal   : Unsupported gpu architecture 'compute_86'错误
#export TORCH_CUDA_ARCH_LIST="8.0"
python setup.py bdist_wheel
#dist下可能多个版本 与python3.7对应
cd ./dist && pip install *

比如编译时出现cannot import name ‘SparseConv3d’ from ‘spconv’

 解决方案：spconv的third_part里手动git clone pybind11并chekck
out到某个版本【版本号：085a29436a8c472caaaf7157aa644b571079bcaa】，然后再重新编译spconv即可。

Det3D应该不用单独安装