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Add BEVFusion setup from @LucasEby 
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‎GEMstack/knowledge/detection/bevfusion_instructions.md‎

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# BEVFusion Set Up Instructions
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These instructions were tested on T4 g4dn.xlarge AWS instances with Arara Ubuntu 20.04 DCV images.
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## Set Up Instructions for Cuda 11.3
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### Set Up your Nvida Driver
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```
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sudo apt-get update
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sudo apt-get install -y ubuntu-drivers-common
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ubuntu-drivers devices
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sudo apt-get install -y nvidia-driver-565
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sudo reboot
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```
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### Check to make sure that your nvidia driver was set up correctly:
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```
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nvidia-smi
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```
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### Install Cuda 11.3
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```
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wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
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sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
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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
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sudo dpkg -i cuda-repo-ubuntu2004-11-3-local_11.3.0-465.19.01-1_amd64.deb # This never copy pastes right. Just manually type
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sudo apt-key add /var/cuda-repo-ubuntu2004-11-3-local/7fa2af80.pub
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sudo apt-get update
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sudo apt-get -y install cuda-11-3
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```
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### Manually modify your bashrc file to include Cuda 11.3
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```
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sudo nano ~/.bashrc
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```
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Add the next 2 lines to the bottom of the file:
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```
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export PATH=/usr/local/cuda-11.3/bin:$PATH
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export LD_LIBRARY_PATH=/usr/local/cuda-11.3/lib64:$LD_LIBRARY_PATH
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```
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Ensure you source your bashrc file:
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```
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source ~/.bashrc
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nvidia-smi
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```
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### Set Up Miniconda
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```
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wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
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bash ~/Miniconda3-latest-Linux-x86_64.sh
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source ~/.bashrc
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```
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### Set Up mmdetection3d:
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```
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conda create --name openmmlab python=3.8 -y
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conda activate openmmlab
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conda install pytorch=1.10.2 torchvision=0.11.3 cudatoolkit=11.3 -c pytorch
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pip install -U openmim
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mim install mmengine
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mim install 'mmcv>=2.0.0rc4, <2.2.0'
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mim install 'mmdet>=3.0.0,<3.3.0'
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pip install cumm-cu113
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pip install spconv-cu113
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git clone https://github.com/open-mmlab/mmdetection3d.git -b dev-1.x
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cd mmdetection3d
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pip install -v -e .
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python projects/BEVFusion/setup.py develop
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```
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### Run this afterwards to verify BEVFusion has been set up correctly:
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```
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python projects/BEVFusion/demo/multi_modality_demo.py demo/data/nuscenes/n015-2018-07-24-11-22-45+0800__LIDAR_TOP__1532402927647951.pcd.bin demo/data/nuscenes/ demo/data/nuscenes/n015-2018-07-24-11-22-45+0800.pkl projects/BEVFusion/configs/bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py ~/Downloads/bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d-5239b1af.pth --cam-type all --score-thr 0.2 --show
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```
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## Set Up Instructions for Cuda 11.1
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### Set Up your Nvida Driver
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```
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sudo apt-get update
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sudo apt-get install -y ubuntu-drivers-common
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ubuntu-drivers devices
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sudo apt-get install -y nvidia-driver-565
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sudo reboot
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```
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### Check to make sure that your nvidia driver was set up correctly:
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```
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nvidia-smi
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```
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### Install Cuda 11.3
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```
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wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
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sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
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wget https://developer.download.nvidia.com/compute/cuda/11.1.0/local_installers/cuda-repo-ubuntu2004-11-1-local_11.1.0-455.23.05-1_amd64.deb
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sudo dpkg -i cuda-repo-ubuntu2004-11-1-local_11.1.0-455.23.05-1_amd64.deb
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sudo apt-key add /var/cuda-repo-ubuntu2004-11-1-local/7fa2af80.pub
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sudo apt-get update
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sudo apt-get -y install cuda-11-1
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```
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### Manually modify your bashrc file to include Cuda 11.3
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```
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sudo nano ~/.bashrc
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```
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Add the next 2 lines to the bottom of the file:
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```
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export PATH=/usr/local/cuda-11.1/bin:$PATH
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export LD_LIBRARY_PATH=/usr/local/cuda-11.1/lib64:$LD_LIBRARY_PATH
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```
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Ensure you source your bashrc file:
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```
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source ~/.bashrc
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nvidia-smi
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```
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### Set Up Miniconda
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```
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wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
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bash ~/Miniconda3-latest-Linux-x86_64.sh
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source ~/.bashrc
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```
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### Set Up mmdetection3d:
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```
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conda create --name openmmlab python=3.8 -y
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conda activate openmmlab
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pip install torch==1.10.0+cu111 torchvision==0.11.1+cu111 -f https://download.pytorch.org/whl/torch_stable.html
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pip install -U openmim
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mim install mmengine
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mim install 'mmcv>=2.0.0rc4, <2.2.0'
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mim install 'mmdet>=3.0.0,<3.3.0'
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pip install cumm-cu111
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pip install spconv-cu111
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git clone https://github.com/open-mmlab/mmdetection3d.git -b dev-1.x
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cd mmdetection3d
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pip install -v -e .
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python projects/BEVFusion/setup.py develop
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```
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### Run this afterwards to verify BEVFusion has been set up correctly:
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```
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python projects/BEVFusion/demo/multi_modality_demo.py demo/data/nuscenes/n015-2018-07-24-11-22-45+0800__LIDAR_TOP__1532402927647951.pcd.bin demo/data/nuscenes/ demo/data/nuscenes/n015-2018-07-24-11-22-45+0800.pkl projects/BEVFusion/configs/bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d.py ~/Downloads/bevfusion_lidar-cam_voxel0075_second_secfpn_8xb4-cyclic-20e_nus-3d-5239b1af.pth --cam-type all --score-thr 0.2 --show
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```

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