BEVFusion（北大&阿里）环境搭建教程

BEVFusion环境搭建

论文题目：BEVFusion: A Simple and Robust LiDAR-Camera Fusion Framework

论文地址：https://arxiv.org/pdf/2205.13790.pdf

代码地址：ADLab-AutoDrive/BEVFusion: Offical PyTorch implementation of “BEVFusion: A Simple and Robust LiDAR-Camera Fusion Framework” (github.com)

前言：这是今年新发的一篇论文，我在第一次阅读时，代码还未开源，前几天发现开源了，而且这个框架做的很清晰，可以基于这个工作熟悉一下融合方案，也能稍稍改进一下。

笔者环境：

sys.platform: linux
Python: 3.8.3 | packaged by conda-forge | (default, Jun 1 2020, 17:43:00) [GCC 7.5.0]
CUDA available: True
GPU 0,1: NVIDIA GeForce RTX 3090
CUDA_HOME: /usr
NVCC: Build cuda_11.5.r11.5/compiler.30672275_0
GCC: gcc (Ubuntu 7.5.0-6ubuntu2) 7.5.0
PyTorch: 1.8.0+cu111
PyTorch compiling details: PyTorch built with:

• GCC 7.3
• C++ Version: 201402
• Intel® Math Kernel Library Version 2020.0.0 Product Build 20191122 for Intel® 64 architecture applications
• Intel® MKL-DNN v1.7.0 (Git Hash 7aed236906b1f7a05c0917e5257a1af05e9ff683)
• OpenMP 201511 (a.k.a. OpenMP 4.5)
• NNPACK is enabled
• CPU capability usage: AVX2
• CUDA Runtime 11.1
• NVCC architecture flags: -gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86
• CuDNN 8.0.5
• Magma 2.5.2
• Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.1, CUDNN_VERSION=8.0.5, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.8.0, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=ON, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON,

TorchVision: 0.9.0+cu111
OpenCV: 4.6.0
MMCV: 1.4.0
MMCV Compiler: GCC 7.3
MMCV CUDA Compiler: 11.1
MMDetection: 2.11.0
MMDetection3D: 0.11.0+9d3e162

说人话：torch1.8.0+cuda111，显卡是3090，其余环境根据根据官方文档配的

一、安装

1、克隆BEVFusion代码

git clone https://github.com/ADLab-AutoDrive/BEVFusion.git

2、新建虚拟环境

conda create -n bevfusion python