Installation

All the codes are tested in the following environment:

Linux (tested on Ubuntu 14.04/16.04/18.04/20.04/21.04)
Python 3.6+
PyTorch 1.1 or higher (tested on PyTorch 1.1, 1,3, 1,5~1.10)
CUDA 9.0 or higher (PyTorch 1.3+ needs CUDA 9.2+)
spconv v1.0 (commit 8da6f96) or spconv v1.2 or spconv v2.x

NOTE: Please re-install pcdet v0.5 by running python setup.py develop even if you have already installed previous version.

a. Clone this repository.

git clone https://github.com/open-mmlab/OpenPCDet.git

b. Install the dependent libraries as follows:

Install the SparseConv library, we use the implementation from [spconv].
- If you use PyTorch 1.1, then make sure you install the spconv v1.0 with (commit 8da6f96) instead of the latest one.
- If you use PyTorch 1.3+, then you need to install the spconv v1.2. As mentioned by the author of spconv, you need to use their docker if you use PyTorch 1.4+.
- You could also install latest spconv v2.x with pip, see the official documents of spconv.

c. Install this pcdet library and its dependent libraries by running the following command:

python setup.py develop