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Installation

Modified from det3d's original document.

Requirements

  • Linux
  • Python 3.6+
  • PyTorch 1.1 or higher
  • CUDA 10.0 or higher
  • CMake 3.13.2 or higher
  • APEX
  • spconv

Notes

  • Both Spconv 1.x and 2.x work.
  • Recent pytorch/spconv/cuda version will be faster and consume less memory.
  • If you have problem installing apex, you can change the apex syncbn to torch's native sync bn at

    CenterPoint/det3d/torchie/apis/train.py

    Line 268 in 3fd0b87

    model = apex.parallel.convert_syncbn_model(model)
    .

we have tested the following versions of OS and softwares:

  • OS: Ubuntu 16.04/18.04
  • Python: 3.6.5/3.7.10
  • PyTorch: 1.1/1.9/1.10.1
  • spconv: 1.0/1.2.1/master
  • CUDA: 10.0/11.1

Basic Installation

# 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"

Advanced Installation

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

# 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

# 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

APEX (Optional)

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" ./

spconv

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 *

Check out GETTING_START to prepare the data and play with all those pretrained models.