Modified from det3d's original document.
- Please use spconv 1.x (exact version can be different from the link above). The 2.x version still has some bugs.
- Recent pytorch/spconv/cuda version will be faster and consumes less memory.
we have tested the following versions of OS and softwares:
- OS: Ubuntu 16.04/18.04
- Python: 3.6.5/3.7.10
- PyTorch: 1.1/1.9
- spconv: 1.0/1.2.1
- CUDA: 10.0/11.1
# 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="${PYTHONPATH}:PATH_TO_CENTERPOINT"
git clone https://github.com/tianweiy/nuscenes-devkit
# add the following line to ~/.bashrc and reactivate bash (remember to change the PATH_TO_NUSCENES_DEVKIT value)
export PYTHONPATH="${PYTHONPATH}:PATH_TO_NUSCENES_DEVKIT/python-sdk"
# set the cuda path(change the path to your own cuda location)
export PATH=/usr/local/cuda-10.0/bin:$PATH
export CUDA_PATH=/usr/local/cuda-10.0
export CUDA_HOME=/usr/local/cuda-10.0
export LD_LIBRARY_PATH=/usr/local/cuda-10.0/lib64:$LD_LIBRARY_PATH
bash setup.sh
git clone https://github.com/NVIDIA/apex
cd apex
git checkout 5633f6 # recent commit doesn't build in our system
pip install -v --no-cache-dir --global-option="--cpp_ext" --global-option="--cuda_ext" ./
sudo apt-get install libboost-all-dev
git clone https://github.com/traveller59/spconv.git --recursive
cd spconv && git checkout 7342772
python setup.py bdist_wheel
cd ./dist && pip install *