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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 cudatoolkit

    conda install -c "nvidia/label/cuda-11.8.0" cuda-toolkit

  • STEP 3: Install torch

    pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118

  • STEP 4: Set environment variables

    # cuda 11.8 and GCC 9.4 is strongly recommended. Otherwise, it might encounter errors.
export PATH=YOUR_GCC_PATH/bin:$PATH
export CUDA_HOME=YOUR_CUDA_PATH/

  • STEP 5: Install ninja and packaging

    pip install ninja packaging

  • STEP 6: Install our repo

    pip install -v -e .

  • 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 # python 3.8 also works well, please set YOUR_CONDA_PATH and YOUR_CONDA_ENV_NAME