FCGF安装教程

http://3dmatch.cs.princeton.edu/
https://www.jiqizhixin.com/articles/2019-10-17-3
https://github.com/SMRT-AIST/fast_gicp
http://gb.oversea.cnki.net/KCMS/detail/detail.aspx?filename=1013146552.nh&dbcode=CMFD&dbname=CMFDREF
https://github.com/chrischoy/FCGF

数据集
https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:apartment:home#point_clouds_in_base_frame
百度DeepVCP视频
https://www.youtube.com/watch?v=O9AMulNyrzY

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https://github.com/chrischoy/FCGF安装步驟

0.下載anaconda安装脚本
    
    https://mirrors.tuna.tsinghua.edu.cn/anaconda/archive/
    下载Anaconda3-5.3.1-Linux-x86_64.sh

1.执行脚本

    bash Anaconda3-5.3.1-Linux-x86_64.sh
    注意选择yes or no

2.安裝cuda,ubuntu16
    https://developer.nvidia.com/cuda-10.2-download-archive?target_os=Linux&target_arch=x86_64&target_distro=Ubuntu&target_version=1604&target_type=deblocal

    wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/cuda-ubuntu1604.pin
    sudo mv cuda-ubuntu1604.pin /etc/apt/preferences.d/cuda-repository-pin-600
    wget http://developer.download.nvidia.com/compute/cuda/10.2/Prod/local_installers/cuda-repo-ubuntu1604-10-2-local-10.2.89-440.33.01_1.0-1_amd64.deb
    sudo dpkg -i cuda-repo-ubuntu1604-10-2-local-10.2.89-440.33.01_1.0-1_amd64.deb
    sudo apt-key add /var/cuda-repo-10-2-local-10.2.89-440.33.01/7fa2af80.pub
    sudo apt-get update
    sudo apt-get -y install cuda
    下载patch 1
    cd 下载
    sudo dpkg -i cuda-repo-ubuntu1604-10-2-local_10.2.1-1_amd64.deb

3.配置cuda环境变量

    export PATH=/usr/local/cuda-10.2/bin:$PATH
    export LD_LIBRARY_PATH=/usr/local/cuda-10.2/lib64:$LD_LIBRARY_PATH

4.anaconda添加清华源
    conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
    conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
    conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge
    conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/msys2/
    conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
    conda config --set show_channel_urls yes

    conda create -n py3-fcgf python=3.7
    conda activate py3-fcgf
    
    pip install torch==1.6.0 torchvision==0.7.0  -i https://pypi.tuna.tsinghua.edu.cn/simple

    安装gcc7
    sudo apt-get install software-properties-common python-software-properties
    sudo add-apt-repository ppa:ubuntu-toolchain-r/test
    sudo apt-get update
    sudo apt-get install gcc-7
    sudo apt-get install g++-7


    然后是配置指令,优先级可以自己定:
    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 100
    sudo update-alternatives --config gcc

    然后:
    gcc -v

    pip install git+https://github.com/NVIDIA/MinkowskiEngine.git@v0.5
注意：nvida显卡驱动要选合适的

https://pytorch.org/get-started/previous-versions/
https://download.pytorch.org/whl/torch_stable.html
https://blog.csdn.net/weixin_46559271/article/details/105175893
https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/linux-64/pytorch-1.7.0-py3.7_cuda10.2.89_cudnn7.6.5_0.tar.bz2


5.
https://node1.chrischoy.org/data/publications/fcgf/2019-09-18_14-15-59.pth
https://node1.chrischoy.org/data/publications/fcgf/redkitchen-20.ply
    
lspci | grep -i nvidia
# 查看显卡型号
sudo dpkg --list | grep nvidia-*
# 查看驱动版本


model = torch.load(model_path, map_location='cpu')
ubuntu-drivers devices



AttributeError: module 'MinkowskiEngineBackend._C' has no attribute 'CoordinateMapManagerGPU_c10'