ubuntu18.04安装OpenPCDet

• 系统信息(cat /etc/os-release)

NAME="Ubuntu"
VERSION="18.04.5 LTS (Bionic Beaver)"
ID=ubuntu
ID_LIKE=debian
PRETTY_NAME="Ubuntu 18.04.5 LTS"
VERSION_ID="18.04"
HOME_URL="https://www.ubuntu.com/"
SUPPORT_URL="https://help.ubuntu.com/"
BUG_REPORT_URL="https://bugs.launchpad.net/ubuntu/"
PRIVACY_POLICY_URL="https://www.ubuntu.com/legal/terms-and-policies/privacy-policy"
VERSION_CODENAME=bionic
UBUNTU_CODENAME=bionic

• 安装系统依赖

apt update
apt install build-essential openssl libssl-dev libboost-all-dev

• 安装显卡驱动

sudo ./NVIDIA-Linux-x86_64-470.103.01.run --no-kernel-module # lxd容器内部需要加参数kernel-module，实际物理机器不需要加

• 安装cuda

sudo sh ./cuda_10.1.168_418.67_linux.run

• 安装cudnn

dpkg -i libcudnn7_7.6.5.32-1+cuda10.1_amd64.deb
dpkg -i libcudnn7-dev_7.6.5.32-1+cuda10.1_amd64.deb

• 创建虚拟环境

conda create -n OpenPCDet python=3.6
conda activate OpenPCDet

• 安装pytorch

wget http://download.pytorch.org/whl/cu101/torch-1.7.0%2Bcu101-cp36-cp36m-linux_x86_64.whl
pip install torch-1.7.0+cu101-cp36-cp36m-linux_x86_64.whl

• 安装torchvision

wget http://download.pytorch.org/whl/cu101/torchvision-0.8.1%2Bcu101-cp36-cp36m-linux_x86_64.whl
pip install torchvision-0.8.1+cu101-cp36-cp36m-linux_x86_64.whl 

• 检查gpu是否可用

python -c 'import torch; print(torch.cuda.is_available())'

• 安装cmake(>=3.13)

tar -xvzf cmake-3.22.3.tar.gz
cd cmake-3.22.3
./configure
make -j 8
make install

• 安装spconv(安装完后spconv不能删除)

git clone  https://github.com/traveller59/spconv.git   --recursive
cd spconv
git -branch <v1.2.1>
cd third_party
rm rf cutlass mp11 pybind11
git clone git://github.com/NVIDIA/cutlass.git
git clone git://github.com/boostorg/mp11.git
git clone git://github.com/pybind/pybind11.git

cd spconv
python setup.py bdist_wheel
cd dist
pip install spconv-1.2.1-cp36-cp36m-linux_x86_64.whl

• 安装OpenPCDet

git clone https://github.com/open-mmlab/OpenPCDet.git
pip install -r requirements.txt
python setup.py develop

• 安装open3d

pip install open3d pcl transforms3d

• demo

python demo.py --cfg_file cfgs/kitti_models/pv_rcnn.yaml --ckpt pv_rcnn_8369.pth --data_path ${POINT_CLOUD_DATA}

• Dataset Preparation

python -m pcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml
python pcdet/datasets/pandaset/pandaset_dataset.py  create_pandaset_infos tools/cfgs/dataset_configs/pandaset_dataset.yaml

• Training

python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --ckpt ${CKPT}

• Testing

python test.py --cfg_file ${CONFIG_FILE} --batch_size ${BATCH_SIZE} --eval_all