Solutions Architect: Gaowei Xu (gaowexu1991@gmail.com)
The Lidar sensor setup could be referred as the illustration figure below:
The ego front is x-axis, the left side is y-axis and the upwards is z-axis. Each position of
environment agent is encoded with a 7-dimension vector, i.e., (x, y, z, length, width, height, orientation).
orientation is in range (-pi, pi], which is illustrated in above figure.
CenterPoint use point pillar to extract points cloud's features and then scatter the features to pseudo image, the figure below illustrate the global indices detail between real physical world and pseudo image space. The global indexing method used in scatter module should be the same with the ground truth (heatmap) generation logic.
wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
wget https://developer.download.nvidia.com/compute/cuda/11.3.0/local_installers/cuda-repo-ubuntu2004-11-3-local_11.3.0-465.19.01-1_amd64.deb
sudo dpkg -i cuda-repo-ubuntu2004-11-3-local_11.3.0-465.19.01-1_amd64.deb
sudo apt-key add /var/cuda-repo-ubuntu2004-11-3-local/7fa2af80.pub
sudo apt-get update
sudo apt-get -y install cuda
sudo apt-get update
sudo apt-get install -y libopencv-dev python3-pip git
Download torch-1.10.2+cu113-cp38-cp38-linux_x86_64.whl to local disk and then install it:
pip3 install torch-1.10.2+cu113-cp38-cp38-linux_x86_64.whl
pip3 install -r requirements.txt
See the LICENSE file for our project's licensing. We will ask you to confirm the licensing of your contribution.