0、前言

OpenPCDet项目之前我就复现过，一个很优秀的项目，这几天又需要用到这个项目，再次复现遇到了不少问题，特此记录复现的流程

1、环境准备

1.1、前置条件

以下是我安装的版本

• CUDA 11.3
• CUDNN 8.2.1

CUDA和CUDNN安装可以参考这篇文章https://blog.csdn.net/qq_50195602/article/details/130337805

1.2、其他环境总览

• python=3.8
• torch==1.11
• spconv-cu113
• cmake version 3.26.3

驱动版本

+-----------------------------------------------------------------------------+
| NVIDIA-SMI 510.108.03   Driver Version: 510.108.03   CUDA Version: 11.6     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  NVIDIA GeForce ...  Off  | 00000000:01:00.0 Off |                  N/A |
| N/A   42C    P8    N/A /  N/A |      9MiB /  2048MiB |      0%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A       980      G   /usr/lib/xorg/Xorg                  4MiB |
|    0   N/A  N/A      1592      G   /usr/lib/xorg/Xorg                  4MiB |
+-----------------------------------------------------------------------------+

(open3) neo@neo:~/code/OpenPCDet/tools$ pip list
Package                  Version       Editable project location
------------------------ ------------- -------------------------
addict                   2.4.0
argcomplete              3.0.6
asttokens                2.2.1
attrs                    23.1.0
av                       10.0.0
av2                      0.2.1
backcall                 0.2.0
ccimport                 0.4.2
certifi                  2022.12.7
charset-normalizer       3.1.0
click                    8.1.3
cmake                    3.26.3
colorlog                 6.7.0
comm                     0.1.3
ConfigArgParse           1.5.3
contourpy                1.0.7
cumm-cu113               0.4.8
cycler                   0.11.0
dash                     2.9.3
dash-core-components     2.0.0
dash-html-components     2.0.0
dash-table               5.0.0
debugpy                  1.6.7
decorator                5.1.1
distlib                  0.3.6
easydict                 1.10
executing                1.2.0
fastjsonschema           2.16.3
filelock                 3.12.0
fire                     0.5.0
Flask                    2.2.3
fonttools                4.39.3
idna                     3.4
imageio                  2.27.0
importlib-metadata       6.6.0
importlib-resources      5.12.0
ipykernel                6.22.0
ipython                  8.12.0
ipywidgets               8.0.6
itsdangerous             2.1.2
jedi                     0.18.2
Jinja2                   3.1.2
joblib                   1.2.0
jsonschema               4.17.3
jupyter_client           8.2.0
jupyter_core             5.3.0
jupyterlab-widgets       3.0.7
kiwisolver               1.4.4
kornia                   0.6.12
lark                     1.1.5
lazy_loader              0.2
lit                      16.0.1
llvmlite                 0.39.1
markdown-it-py           2.2.0
MarkupSafe               2.1.2
matplotlib               3.7.1
matplotlib-inline        0.1.6
mdurl                    0.1.2
mpmath                   1.3.0
nbformat                 5.7.0
nest-asyncio             1.5.6
networkx                 3.1
ninja                    1.11.1
nox                      2023.4.22
numba                    0.56.4
numpy                    1.23.5
nvidia-cublas-cu11       11.10.3.66
nvidia-cuda-cupti-cu11   11.7.101
nvidia-cuda-nvrtc-cu11   11.7.99
nvidia-cuda-runtime-cu11 11.7.99
nvidia-cudnn-cu11        8.5.0.96
nvidia-cufft-cu11        10.9.0.58
nvidia-curand-cu11       10.2.10.91
nvidia-cusolver-cu11     11.4.0.1
nvidia-cusparse-cu11     11.7.4.91
nvidia-nccl-cu11         2.14.3
nvidia-nvtx-cu11         11.7.91
open3d                   0.17.0
opencv-python            4.7.0.72
packaging                23.1
pandas                   2.0.0
parso                    0.8.3
pccm                     0.4.6
pcdet                    0.6.0+4d8624f /home/neo/code/OpenPCDet
pexpect                  4.8.0
pickleshare              0.7.5
Pillow                   9.5.0
pip                      23.0.1
pkgutil_resolve_name     1.3.10
platformdirs             3.2.0
plotly                   5.14.1
portalocker              2.7.0
prompt-toolkit           3.0.38
protobuf                 3.20.3
psutil                   5.9.5
ptyprocess               0.7.0
pure-eval                0.2.2
pyarrow                  11.0.0
pybind11                 2.10.4
Pygments                 2.15.1
pyparsing                3.0.9
pyproj                   3.5.0
pyquaternion             0.9.9
pyrsistent               0.19.3
python-dateutil          2.8.2
pytz                     2023.3
PyWavelets               1.4.1
PyYAML                   6.0
pyzmq                    25.0.2
requests                 2.28.2
rich                     13.3.4
scikit-image             0.20.0
scikit-learn             1.2.2
scipy                    1.9.1
setuptools               66.0.0
SharedArray              3.2.2
six                      1.16.0
spconv-cu113             2.3.6
stack-data               0.6.2
sympy                    1.11.1
tenacity                 8.2.2
tensorboardX             2.6
termcolor                2.2.0
threadpoolctl            3.1.0
tifffile                 2023.4.12
torch                    2.0.0
torchvision              0.15.1
tornado                  6.3.1
tqdm                     4.65.0
traitlets                5.9.0
triton                   2.0.0
typing_extensions        4.5.0
tzdata                   2023.3
urllib3                  1.26.15
virtualenv               20.22.0
wcwidth                  0.2.6
Werkzeug                 2.2.3
wheel                    0.38.4
widgetsnbextension       4.0.7
zipp                     3.15.0

2、详细步骤

2.1、创建conda环境

conda create -n open python=3.8
conda activate open

2.2、安装包（除了torch）

pip install -r requirements.txt

2.3、安装torch

pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 torchaudio==0.11.0 --extra-index-url https://download.pytorch.org/whl/cu113

2.4、安装稀疏卷积库

pip install spconv-cu113

稀疏卷积库官网：https://github.com/traveller59/spconv

2.5、安装cmake及一些其他的包

#cmake安装
pip install cmake
#可视化工具
pip install open3d
#其他的包
pip install av2
pip install kornia

2.6 编译项目

python setup.py develop

查看是否安装成功

2.7、运行demo

权重文件在GitHub官方代码库下载:https://github.com/open-mmlab/OpenPCDet

cd tools
python demo.py --cfg_file cfgs/kitti_models/pv_rcnn.yaml --ckpt ckpts/kitti/pv_rcnn_8369.pth --data_path /home/neo/data/kitti/vel/000000.bin 

2.8、报错处理

undefined symbol: _ZN3c104impl23ExcludeDispatchKeyGuardC1ENS_11DispatchKeyE

网上很多人说是torch版本不匹配的问题，但是我的版本是匹配的，仔细分析报错发现可嫩是编译过程出错，所以我重新配置conda环境并重新编译（python setup.py develop就是编译），问题就解决了。
注意重新编译需要删除build文件

rm -r build

至此复现结束，如果有什么问题可以在评论区一起交流💬