git clone git@github.com:liuhengyue/fcsgg.git
cd fcsgg
git submodule init
git submodule update
conda create --name fcsgg
conda create -n fcsgg python=3.10
conda install nvidia/label/cuda-11.8.0::cuda-toolkit -c nvidia/label/cuda-11.8.0
conda install cudatoolkit
pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118

# for building detectron
conda install -c conda-forge gcc=11.2.0
conda install -c conda-forge gxx=11.2.0

conda env config vars set LD_LIBRARY_PATH="/home/cyl/miniconda3/envs/fcsgg/lib/"
conda env config vars set CPATH="/home/cyl/miniconda3/envs/fcsgg/include/"
conda env config vars set CUDA_HOME="/home/cyl/miniconda3/envs/fcsgg/"

conda deactivate
conda activate fcsgg

export CC=$CONDA_PREFIX/bin/gcc
export CXX=$CONDA_PREFIX/bin/g++

pip install -r requirements.txt
python -m pip install -e detectron2

cd ~/Reconst
wget https://cs.stanford.edu/people/rak248/VG_100K_2/images.zip -P ./Data/vg/
wget https://cs.stanford.edu/people/rak248/VG_100K_2/images2.zip -P ./Data/vg/
unzip -j ./Data/vg/images.zip -d ./Data/vg/VG_100K
unzip -j ./Data/vg/images2.zip -d ./Data/vg/VG_100K

AttributeError: module 'PIL.Image' has no attribute 'LINEAR'. Did you mean: 'BILINEAR'?

  File "/home/cyl/Reconst/fcsgg/fcsgg/data/detection_utils.py", line 432, in generate_score_map
    masked_fmap = torch.max(masked_fmap, gaussian_mask * k)
RuntimeError: The size of tensor a (55) must match the size of tensor b (56) at non-singleton dimension 1

python tools/train_net.py --num-gpus 1 --config-file configs/quick_schedules/Quick-FCSGG-HRNet-W32.yaml

...
[04/23 10:21:01] d2.utils.events INFO:  eta: 0:05:37  iter: 1159  total_loss: 1.042  loss_cls: 0.7593  loss_box_wh: 0.08827  loss_center_reg: 0.02485  loss_raf: 0.1754    time: 0.4042  last_time: 0.4519  data_time: 0.0043  last_data_time: 0.0044   lr: 0.001  max_mem: 4141M
[04/23 10:21:09] d2.utils.events INFO:  eta: 0:05:29  iter: 1179  total_loss: 1.028  loss_cls: 0.7208  loss_box_wh: 0.09246  loss_center_reg: 0.02669  loss_raf: 0.1625    time: 0.4042  last_time: 0.4035  data_time: 0.0041  last_data_time: 0.0044   lr: 0.001  max_mem: 4141M
[04/23 10:21:17] d2.utils.events INFO:  eta: 0:05:21  iter: 1199  total_loss: 1.01  loss_cls: 0.671  loss_box_wh: 0.1038  loss_center_reg: 0.02432  loss_raf: 0.1635    time: 0.4042  last_time: 0.3943  data_time: 0.0042  last_data_time: 0.0043   lr: 0.001  max_mem: 4141M
[04/23 10:21:25] d2.utils.events INFO:  eta: 0:05:13  iter: 1219  total_loss: 0.9737  loss_cls: 0.6887  loss_box_wh: 0.0929  loss_center_reg: 0.02574  loss_raf: 0.1749    time: 0.4041  last_time: 0.4101  data_time: 0.0041  last_data_time: 0.0042   lr: 0.001  max_mem: 4141M
...

conda env create -f conda.yaml

pip install torch==2.0.0 torchvision==0.15.1 torchaudio==2.0.1

conda install nvidia/label/cuda-11.7.0::cuda-toolkit -c nvidia/label/cuda-11.7.0
conda install cudatoolkit
conda install -c conda-forge gcc=11.2.0
conda install -c conda-forge gxx=11.2.0

conda env config vars set LD_LIBRARY_PATH="/home/cyl/miniconda3/envs/dinov2/lib/"
conda env config vars set CPATH="/home/cyl/miniconda3/envs/dinov2/include/"
conda env config vars set CUDA_HOME="/home/cyl/miniconda3/envs/dinov2/"

export CC=$CONDA_PREFIX/bin/gcc
export CXX=$CONDA_PREFIX/bin/g++

# check with `which g++`

conda env update -f conda_cyl.yaml

pip3 install -U xformers==0.0.18

conda env config vars set PYTHONPATH="/home/cyl/Reconst/dinov2/"

imagenet-mini
├── labels.txt
├── train
└── val

cd ~
roslaunch test demo_gazebo.launch

cd ~
rosrun test moveit_setscene.py
rosrun test gazebo_setscene.py