Add support for latest PyTorch and setuptools

* Add `pyproject.toml` and `setup.cfg` for PEP 517/518 support
* Add `weights_only=False` for `torch.load` (torch>=2.6)
* Add missing dependencies in `requirements.txt`
* Add `clean.sh` for cleaning up build artifacts
* Update `INSTALL.md` for installation instructions

Author: liyufan

clean.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+rm -rf build/ pcdet.egg-info/ dist/ .eggs/ .setuptools-cfg .venv
+find . -type f -name "*.so" -exec rm -f {} \;
+find . -type d -name "__pycache__" -exec rm -rf {} \; -prune

docs/INSTALL.md

@@ -2,15 +2,15 @@
 
 ### Requirements
 All the codes are tested in the following environment:
-* Linux (tested on Ubuntu 14.04/16.04/18.04/20.04/21.04)
+* Linux (tested on Ubuntu 14.04/16.04/18.04/20.04/21.04/24.04)
 * Python 3.6+
-* PyTorch 1.1 or higher (tested on PyTorch 1.1, 1,3, 1,5~1.10)
+* PyTorch 1.1 or higher (tested on PyTorch 1.1, 1,3, 1,5~1.10, 2.8)
 * CUDA 9.0 or higher (PyTorch 1.3+ needs CUDA 9.2+)
 * [`spconv v1.0 (commit 8da6f96)`](https://github.com/traveller59/spconv/tree/8da6f967fb9a054d8870c3515b1b44eca2103634) or [`spconv v1.2`](https://github.com/traveller59/spconv) or [`spconv v2.x`](https://github.com/traveller59/spconv)
 
 
 ### Install `pcdet v0.5`
-NOTE: Please re-install `pcdet v0.5` by running `python setup.py develop` even if you have already installed previous version.
+NOTE: Please re-install `pcdet v0.5` by running `pip install -e .` even if you have already installed previous version.
 
 a. Clone this repository.
 ```shell
@@ -34,5 +34,14 @@ b. Install the dependent libraries as follows:
 
 c. Install this `pcdet` library and its dependent libraries by running the following command:
 ```shell
-python setup.py develop
+pip install -e .
+```
+* To build the wheel only, run the following command:
+```shell
+pip install build
+python -m build --wheel
+```
+* To install the built wheel, run the following command:
+```shell
+pip install dist/*.whl
 ```

pcdet/models/detectors/detector3d_template.py

@@ -364,10 +364,10 @@ def load_params_from_file(self, filename, logger, to_cpu=False, pre_trained_path
 
         logger.info('==> Loading parameters from checkpoint %s to %s' % (filename, 'CPU' if to_cpu else 'GPU'))
         loc_type = torch.device('cpu') if to_cpu else None
-        checkpoint = torch.load(filename, map_location=loc_type)
+        checkpoint = torch.load(filename, map_location=loc_type, weights_only=False)
         model_state_disk = checkpoint['model_state']
         if not pre_trained_path is None:
-            pretrain_checkpoint = torch.load(pre_trained_path, map_location=loc_type)
+            pretrain_checkpoint = torch.load(pre_trained_path, map_location=loc_type, weights_only=False)
             pretrain_model_state_disk = pretrain_checkpoint['model_state']
             model_state_disk.update(pretrain_model_state_disk)
 
@@ -389,7 +389,7 @@ def load_params_with_optimizer(self, filename, to_cpu=False, optimizer=None, log
 
         logger.info('==> Loading parameters from checkpoint %s to %s' % (filename, 'CPU' if to_cpu else 'GPU'))
         loc_type = torch.device('cpu') if to_cpu else None
-        checkpoint = torch.load(filename, map_location=loc_type)
+        checkpoint = torch.load(filename, map_location=loc_type, weights_only=False)
         epoch = checkpoint.get('epoch', -1)
         it = checkpoint.get('it', 0.0)
 
@@ -405,7 +405,7 @@ def load_params_with_optimizer(self, filename, to_cpu=False, optimizer=None, log
                 src_file, ext = filename[:-4], filename[-3:]
                 optimizer_filename = '%s_optim.%s' % (src_file, ext)
                 if os.path.exists(optimizer_filename):
-                    optimizer_ckpt = torch.load(optimizer_filename, map_location=loc_type)
+                    optimizer_ckpt = torch.load(optimizer_filename, map_location=loc_type, weights_only=False)
                     optimizer.load_state_dict(optimizer_ckpt['optimizer_state'])
 
         if 'version' in checkpoint:

pyproject.toml

@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools >= 67.0", "wheel", "torch >= 2.0", "numpy >= 2.0"]
+build-backend = "setuptools.build_meta"

requirements.txt

@@ -10,4 +10,7 @@ tqdm
 torchvision
 SharedArray
 opencv-python
-pyquaternion
+pyquaternion
+kornia<0.7
+ninja
+av2

setup.cfg

@@ -0,0 +1,42 @@
+[metadata]
+name = pcdet
+description = OpenPCDet is a general codebase for 3D object detection from point cloud
+author = Shaoshuai Shi
+author_email = [email protected]
+license_expression = Apache-2.0
+url = https://github.com/open-mmlab/OpenPCDet
+classifiers =
+    Programming Language :: Python :: 3
+    Operating System :: OS Independent
+
+[options]
+packages = find:
+python_requires = >=3.6
+install_requires =
+    numpy
+    llvmlite
+    numba
+    tensorboardX
+    easydict
+    pyyaml
+    scikit-image
+    tqdm
+    SharedArray
+    ; spconv ; spconv has different names depending on the cuda version
+
+[options.packages.find]
+exclude = 
+    tools
+    data
+    output        
+
+[options.extras_require]
+dev =
+    pytest
+    flake8
+    mypy
+
+[options.entry_points]
+console_scripts =
+    pcdet-train = pcdet.tools.train:main
+    pcdet-test = pcdet.tools.test:main

setup.py

@@ -1,7 +1,7 @@
 import os
 import subprocess
 
-from setuptools import find_packages, setup
+from setuptools import setup
 from torch.utils.cpp_extension import BuildExtension, CUDAExtension
 
 
@@ -32,26 +32,7 @@ def write_version_to_file(version, target_file):
     write_version_to_file(version, 'pcdet/version.py')
 
     setup(
-        name='pcdet',
         version=version,
-        description='OpenPCDet is a general codebase for 3D object detection from point cloud',
-        install_requires=[
-            'numpy',
-            'llvmlite',
-            'numba',
-            'tensorboardX',
-            'easydict',
-            'pyyaml',
-            'scikit-image',
-            'tqdm',
-            'SharedArray',
-            # 'spconv',  # spconv has different names depending on the cuda version
-        ],
-
-        author='Shaoshuai Shi',
-        author_email='[email protected]',
-        license='Apache License 2.0',
-        packages=find_packages(exclude=['tools', 'data', 'output']),
         cmdclass={
             'build_ext': BuildExtension,
         },