diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..f5a31d9
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,137 @@
+import os
+import subprocess
+
+from setuptools import find_packages, setup
+from torch.utils.cpp_extension import BuildExtension, CUDAExtension
+
+
+def get_git_commit_number():
+    if not os.path.exists('.git'):
+        return '0000000'
+
+    cmd_out = subprocess.run(['git', 'rev-parse', 'HEAD'], stdout=subprocess.PIPE)
+    git_commit_number = cmd_out.stdout.decode('utf-8')[:7]
+    return git_commit_number
+
+
+def make_cuda_ext(name, module, sources):
+    cuda_ext = CUDAExtension(
+        name='%s.%s' % (module, name),
+        sources=[os.path.join(*module.split('.'), src) for src in sources]
+    )
+    return cuda_ext
+
+
+def write_version_to_file(version, target_file):
+    with open(target_file, 'w') as f:
+        print('__version__ = "%s"' % version, file=f)
+
+
+if __name__ == '__main__':
+    version = '0.6.0+%s' % get_git_commit_number()
+    write_version_to_file(version, 'pcdet/version.py')
+
+    setup(
+        name='pcdet',
+        version=version,
+        description='OpenPCDet is a general codebase for 3D object detection from point cloud',
+        install_requires=[
+            'numpy',
+            'llvmlite',
+            'numba',
+            'tensorboardX',
+            'easydict',
+            'pyyaml',
+            'scikit-image',
+            'tqdm',
+            'SharedArray',
+            # 'spconv',  # spconv has different names depending on the cuda version
+        ],
+
+        author='Shaoshuai Shi',
+        author_email='shaoshuaics@gmail.com',
+        license='Apache License 2.0',
+        packages=find_packages(exclude=['tools', 'data', 'output']),
+        cmdclass={
+            'build_ext': BuildExtension,
+        },
+        ext_modules=[
+            make_cuda_ext(
+                name='iou3d_nms_cuda',
+                module='pcdet.ops.iou3d_nms',
+                sources=[
+                    'src/iou3d_cpu.cpp',
+                    'src/iou3d_nms_api.cpp',
+                    'src/iou3d_nms.cpp',
+                    'src/iou3d_nms_kernel.cu',
+                ]
+            ),
+            make_cuda_ext(
+                name='roiaware_pool3d_cuda',
+                module='pcdet.ops.roiaware_pool3d',
+                sources=[
+                    'src/roiaware_pool3d.cpp',
+                    'src/roiaware_pool3d_kernel.cu',
+                ]
+            ),
+            make_cuda_ext(
+                name='roipoint_pool3d_cuda',
+                module='pcdet.ops.roipoint_pool3d',
+                sources=[
+                    'src/roipoint_pool3d.cpp',
+                    'src/roipoint_pool3d_kernel.cu',
+                ]
+            ),
+            make_cuda_ext(
+                name='pointnet2_stack_cuda',
+                module='pcdet.ops.pointnet2.pointnet2_stack',
+                sources=[
+                    'src/pointnet2_api.cpp',
+                    'src/ball_query.cpp',
+                    'src/ball_query_gpu.cu',
+                    'src/group_points.cpp',
+                    'src/group_points_gpu.cu',
+                    'src/sampling.cpp',
+                    'src/sampling_gpu.cu', 
+                    'src/interpolate.cpp', 
+                    'src/interpolate_gpu.cu',
+                    'src/voxel_query.cpp', 
+                    'src/voxel_query_gpu.cu',
+                    'src/vector_pool.cpp',
+                    'src/vector_pool_gpu.cu'
+                ],
+            ),
+            make_cuda_ext(
+                name='pointnet2_batch_cuda',
+                module='pcdet.ops.pointnet2.pointnet2_batch',
+                sources=[
+                    'src/pointnet2_api.cpp',
+                    'src/ball_query.cpp',
+                    'src/ball_query_gpu.cu',
+                    'src/group_points.cpp',
+                    'src/group_points_gpu.cu',
+                    'src/interpolate.cpp',
+                    'src/interpolate_gpu.cu',
+                    'src/sampling.cpp',
+                    'src/sampling_gpu.cu',
+
+                ],
+            ),
+            make_cuda_ext(
+                name="bev_pool_ext",
+                module="pcdet.ops.bev_pool",
+                sources=[
+                    "src/bev_pool.cpp",
+                    "src/bev_pool_cuda.cu",
+                ],
+            ),
+            make_cuda_ext(
+                name='ingroup_inds_cuda',
+                module='pcdet.ops.ingroup_inds',
+                sources=[
+                    'src/ingroup_inds.cpp',
+                    'src/ingroup_inds_kernel.cu',
+                ]
+            ),
+        ],
+    )