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INSTALL.md

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Follow these steps to install the environment

  • STEP 1: Create Environment

    ## python3.8 should be strictly followed.
conda create -n b2d_zoo python=3.8
conda activate b2d_zoo

  • STEP 2: Install Jittor

    sudo apt install libomp-dev

pip install git+https://github.com/Jittor/jittor.git # make sure use the latest version, after commit da45615

  • STEP 3: Set Environment Variables

    ## Suggested GCC Version 9.4. Otherwise, there would be lots of unknown errors.
export PATH=YOUR_GCC_PATH/bin:$PATH
## Suggested CUDA Version 11.8
export CUDA_HOME=YOUR_CUDA_PATH/

  • STEP 4: Install CUDA Support for Jittor

    ## If you have a GPU and want to enable CUDA acceleration, install CUDA to the Jittor cache
python -m jittor_utils.install_cuda

  • STEP 5: Install ninja and packaging

    pip install ninja packaging

  • STEP 6: Install our repo

    pip install -r requirements.txt

## If there is any error, consider changing the cuda version of the following package
pip install spconv-cu113
pip install cupy-cuda113

pip install -v -e .
pip install pillow==9.2.0
pip install cupy

  • STEP 7: Prepare pretrained weights. create directory ckpts

    mkdir ckpts

    Download resnet50-19c8e357.pth form Hugging Face or Baidu Cloud or from Pytorch official website.

    Download r101_dcn_fcos3d_pretrain.pth form Hugging Face or Baidu Cloud or from BEVFormer official repo.

  • STEP 8: Install CARLA for closed-loop evaluation.

    ## Ignore the line about downloading and extracting CARLA if you have already done so.
mkdir carla
cd carla
wget https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/CARLA_0.9.15.tar.gz
tar -xvf CARLA_0.9.15.tar.gz
cd Import && wget https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/AdditionalMaps_0.9.15.tar.gz
cd .. && bash ImportAssets.sh
export CARLA_ROOT=YOUR_CARLA_PATH

## Important!!! Otherwise, the python environment can not find CARLA package
echo "$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.15-py3.7-linux-x86_64.egg" >> YOUR_CONDA_PATH/envs/YOUR_CONDA_ENV_NAME/lib/python3.7/site-packages/carla.pth # python3.8 works well even if the egg is compiled for python3.7, please set YOUR_CONDA_PATH and YOUR_CONDA_ENV_NAME correctly