1. 代码下载git clone https://github.com/fundamentalvision/BEVFormer.git2. 环境配置使用conda创建环境conda create -n bevformer python3.8 -y进入环境conda activate bevformer允许使用pip安装依赖库export PIP_REQUIRE_VIRTUALENVfalse安装pytorch和torchvision注意根据你的cuda版本选择相应的版本并注意它们之间的版本依赖关系。此处的例子适合cuda 11.3或11.4pip install torch1.10.0cu113 torchvision0.11.0cu113 torchaudio0.10.0 -f https://download.pytorch.org/whl/torch_stable.htmlInstall gcc5 in conda env (optional).conda install -c omgarcia gcc-6 # gcc-6.2安装mmcv-fullpip install mmcv-full1.4.0安装mmdet和mmsegpip install mmdet2.14.0 pip install mmsegmentation0.14.1安装mmdet3d的依赖库pip install ninja tensorboard2.13.0 nuscenes-devkit1.1.10 scikit-image0.19.0 lyft-dataset-sdk0.0.8 pip install numpy1.19.5 pandas1.4.4 llvmlite0.31.0 setuptools59.5.0安装mmdet3dgit clone https://github.com/open-mmlab/mmdetection3d.git cd mmdetection3d git checkout v0.17.1 # Other versions may not be compatible. pip install -r requirements.txt pip install .安装Detectron2 and Timm.pip install einops fvcore seaborn iopath0.1.9 timm0.6.13 typing-extensions4.5.0 pylint ipython8.12 numba0.48.0 scikit-image0.19.3 yapf0.40.1 git clone https://github.com/facebookresearch/detectron2.git cd detectron2 pip install .3. 准备数据3.1. 下载数据下载地址 https://www.nuscenes.org/download从这里点击下载3.1.1. 下载Mini数据需要下载Mini, Test和can_bus得到如下文件v1.0-mini.tgzv1.0-test_blobs.tgzv1.0-test_meta.tgzcan_bus.zip3.1.2. 下载全量数据需要下载TrainVal, Test和can_bus得到如下文件v1.0-trainval01_blobs.tgzv1.0-trainval02_blobs.tgzv1.0-trainval03_blobs.tgzv1.0-trainval04_blobs.tgzv1.0-trainval05_blobs.tgzv1.0-trainval06_blobs.tgzv1.0-trainval07_blobs.tgzv1.0-trainval08_blobs.tgzv1.0-trainval09_blobs.tgzv1.0-trainval10_blobs.tgzv1.0-trainval_meta.tgzv1.0-test_blobs.tgzv1.0-test_meta.tgzcan_bus.zip3.2. 组织数据3.2.1. 组织Mini数据把Mini的压缩包都放在同一个目录例如名为v1.0-mini然后解压解压的时候会有一些目录合并。把v1.0-mini改名为v1.0-trainval这样得到的目录是mapssamplessweepsv1.0-testv1.0-trainvalcan_bus3.2.2. 组织全量数据把全量的压缩包都放在同一个目录例如名为v1.0-full然后解压解压的时候会有一些目录合并。mapssamplessweepsv1.0-testv1.0-trainvalcan_bus3.3. 预处理数据python tools/create_data.py nuscenes --root-path [your path]/v1.0-mini/ --out-dir [your path]/v1.0-mini/ --extra-tag nuscenes --version v1.0 --canbus [your path]4. 训练打开文件projects/configs/bevformer/bevformer_base.py修改data_root../tools/dist_train.sh ./projects/configs/bevformer/bevformer_base.py 8没有改变其它参数即samples_per_gpu1 workers_per_gpu4显存占用情况如下5. 评测./tools/dist_test.sh ./projects/configs/bevformer/bevformer_base.py ./path/to/ckpts.pth 8参考文献https://github.com/fundamentalvision/BEVFormer/blob/master/docs/install.mdhttps://github.com/fundamentalvision/BEVFormer/blob/master/docs/getting_started.mdBEVFormer环境配置_bevformer 环境配置和测试-CSDN博客