深度学习激光3D目标检测OpenPCDet安装笔记
安装环境
- python=3.7
- pytorch=1.3.1
- torchvision=0.4.2
- cudatoolkit=10.1
具体执行步骤:
conda create -n pytorch-1.3.1 python=3.7(创建环境)
conda activate pytorch-1.3.1(进入环境)
conda install pytorch==1.3.1 torchvision==0.4.2 cudatoolkit=10.1 -c pytorch(安装环境)
执行第三步时,因为pytorch-1.3.1-py3.7_cuda10.1.243_cudnn7.6.3_0.tar.bz2在线安装比较慢,我下载后离线安装:
conda install --offline pytorch-1.3.1-py3.7_cuda10.1.243_cudnn7.6.3_0.tar.bz2
然后重新执行命令,即可完成安装。
conda install pytorch==1.3.1 torchvision==0.4.2 cudatoolkit=10.1 -c pytorch
OpenPCDet demo运行
-
进入到/home/higer/apps/OpenPCDet/tools目录
cd tools/
-
执行domo命令
python demo.py --cfg_file cfgs/kitti_models/pv_rcnn.yaml --ckpt pv_rcnn_8369.pth --data_path ../data/kitti/testing/velodyne/000090.bin
安装问题
-
安装mayavi报错信息:
ImportError: Could not import backend for traitsui. Make sure you have a suitable UI toolkit like PyQt/PySide or wxPython installed.
解决方案:
sudo pip3 install PyQt5
-
执行pip install -r requirements.txt 报错信息:
Requirement already satisfied: numpy in /home/higer/anaconda3/envs/pytorch/lib/python3.6/site-packages (from-r requirements.txt (line 1)) (1.19.2) Requirement already satisfied: six in /home/higer/anaconda3/envs/pytorch/lib/python3.6/site-packages (from tensorboardX->-r requirements.txt (line 4)) (1.15.0)
解决方案:
pip install --target=/home/higer/anaconda3/envs/pytorch/lib/python3.6/site-packages -r requirements.txt
执行结果