1. 背景目录1. 背景1.1 结果1.1.1 过程截图存在的坑安装环境踩坑记录过程记录requirements.txt设置调试的launch.json数据合成视频脚本跑通了MapTRV1 ，想继续跑通MapTRV2，安装运行的时候都存在问题，先从网上找了一些相关的教程，发现教程需要收费，作为白嫖党怎么可能轻易付费，于是就是结合了免费的AI以及网上的信息进行了探索，索性最后成功结束踩坑，因此将成功的经验记录下来，方便以后复现。接下来放一下原始的环绕相机视角以及预测效果和标注效果的截图。然后再从部署，训练测试以及加入断点进行调试这些步骤进行一一记录回顾。1.1 结果预测值和真值1.1.1 过程截图训练成功截图训练过程中显存截图成功运行截图2. 环境安装我的安装环境是Ubuntu20.04TLS，主要这个版本是可以支持vscode通过remote SSH来进行远程调试代码。2.1环境变量版本OSUbuntu 20.04TSPython3.8cuda11.3torch1.10.0+cu113torchaudio0.10.0+cu113torchvision0.11.0+cu113mmcv-full1.3.18mmdet2.14.0mmsegmentation0.14.1timm0.9.5networkx2.3numpy2.3setuptools58.2.0yapf0.40.1安装步骤source/etc/network_turbogitclone https://github.com/hustvl/MapTR.gitcdMapTR/gitcheckout maptrv2 conda create-nmaptrv2python=3.8-yconda initbashexitconda activate maptrv2 pipinstalltorch==1.10.0+cu113torchvision==0.11.0+cu113torchaudio==0.10.0-fhttps://download.pytorch.org/whl/torch_stable.html pipinstallmmcv-full==1.3.18mmdet==2.14.0mmsegmentation==0.14.1timm==0.9.5cdmmdetection3dexportCUDA_HOME=/usr/local/cuda-11.3cdMapTR/mmdetection3d/pipinstall-ve.cd./ pipinstall-rrequirement.txtcd..pipinstall-rrequirement.txtcd./projects/mmdet3d_plugin/maptr/modules/ops/geometric_kernel_attn python setup.py buildinstallsudoaptinstallgcc-9 g++-9 pipinstallsetuptools==59.5.0 pipinstalltensorboard安装环境Package Version Editable project location ------------------------- ------------ ------------------------- absl-py2.3.1 addict2.4.0 anyio4.5.2 argcomplete3.6.3 argon2-cffi25.1.0 argon2-cffi-bindings21.2.0 arrow1.4.0 asttokens3.0.1 async-lru2.0.4 attrs25.3.0 av12.3.0 av20.2.1 babel2.18.0 backcall0.2.0 backports.zoneinfo0.2.1 beautifulsoup44.14.3 black24.8.0 bleach6.1.0 cachetools5.5.2 certifi2026.4.22 cffi1.17.1 charset-normalizer3.4.7 click8.1.8 colorlog6.10.1comm0.2.3 contourpy1.1.1 cryptography47.0.0 cycler0.12.1 debugpy1.8.20 decorator5.2.1 defusedxml0.7.1 dependency-groups1.3.1 descartes1.1.0 distlib0.4.0 e1.4.5 exceptiongroup1.3.1 executing2.2.1 fastjsonschema2.21.2 filelock3.16.1 fire0.7.1 flake87.1.2 fonttools4.57.0 fqdn1.5.1 fsspec2025.3.0 GeometricKernelAttention1.0google-auth2.50.0 google-auth-oauthlib0.4.6 grpcio1.70.0 h110.16.0 hf-xet1.5.0 httpcore1.0.9 httpx0.28.1 huggingface_hub0.36.2 humanize4.10.0 idna3.15imageio2.35.1 importlib_metadata8.5.0 importlib_resources6.4.5 iniconfig2.1.0 ipykernel6.29.5 ipython8.12.3 ipywidgets8.1.8 isoduration20.11.0 jedi0.19.2 Jinja23.1.6 joblib1.4.2 json50.14.0 jsonpointer3.0.0 jsonschema4.23.0 jsonschema-specifications2023.12.1 jupyter1.1.1 jupyter_client8.6.3 jupyter-console6.6.3 jupyter_core5.8.1 jupyter-events0.10.0 jupyter-lsp2.3.1 jupyter_server2.14.2 jupyter_server_terminals0.5.4 jupyterlab4.3.8 jupyterlab_pygments0.3.0 jupyterlab_server2.28.0 jupyterlab_widgets3.0.16 kiwisolver1.4.7 kornia0.7.3 kornia_rs0.1.11 llvmlite0.31.0 lyft-dataset-sdk0.0.8 Markdown3.7markdown-it-py3.0.0 MarkupSafe2.1.5 matplotlib3.5.2 matplotlib-inline0.1.7 mccabe0.7.0 mdurl0.1.2 mistune3.2.1 mmcv-full1.3.18 mmdet2.14.0 mmdet3d0.17.2 /root/MapTR/mmdetection3d mmsegmentation0.14.1 mypy_extensions1.1.0 narwhals1.42.1 nbclient0.10.1 nbconvert7.16.6 nbformat5.10.4 nest-asyncio1.6.0 networkx2.2notebook7.3.3 notebook_shim0.2.4 nox2026.2.9 numba0.48.0 numpy1.23.5 nuscenes-devkit1.1.10 oauthlib3.3.1 opencv-python4.13.0.92 overrides7.7.0 packaging21.3pandas1.4.4 pandocfilters1.5.1 parso0.8.7 pathspec0.12.1 pexpect4.9.0 pickleshare0.7.5 pillow10.4.0 pip24.2pkgutil_resolve_name1.3.10 platformdirs4.3.6 plotly6.7.0 pluggy1.5.0 plyfile1.0.3 polars1.8.2 prettytable3.11.0 prometheus_client0.21.1 prompt_toolkit3.0.52 protobuf3.20.3 psutil7.2.2 ptyprocess0.7.0 pure_eval0.2.3 pyarrow17.0.0 pyasn10.6.3 pyasn1_modules0.4.2 pycocotools2.0.7 pycodestyle2.12.1 pycparser2.23pyflakes3.2.0 Pygments2.19.2 pyparsing3.1.4 pyproj3.5.0 pyquaternion0.9.9 pytest8.3.5 python-dateutil2.9.0.post0 python-discovery1.3.1 python-json-logger4.0.0 pytz2026.2PyWavelets1.4.1 PyYAML6.0.3 pyzmq27.1.0 referencing0.35.1 requests2.32.4 requests-oauthlib2.0.0 rfc3339-validator0.1.4 rfc3986-validator0.1.1 rich14.3.4 rpds-py0.20.1 safetensors0.5.3 scikit-image0.19.3 scikit-learn1.3.2 scipy1.10.1 Send2Trash2.1.0 setuptools59.5.0 Shapely1.8.5 six1.17.0 sniffio1.3.1 soupsieve2.7stack-data0.6.3 tensorboard2.11.2 tensorboard-data-server0.6.1 tensorboard-plugin-wit1.8.1 termcolor2.4.0 terminado0.18.1 terminaltables3.1.10 threadpoolctl3.5.0 tifffile2023.7.10 timm0.9.5 tinycss21.2.1 tomli2.4.1 torch1.10.0+cu113 torchaudio0.10.0+cu113 torchvision0.11.0+cu113 tornado6.4.2 tqdm4.67.3 traitlets5.14.3 trimesh2.35.39 typing_extensions4.13.2 universal_pathlib0.2.6 uri-template1.3.0 urllib32.2.3 virtualenv21.3.3 wcwidth0.7.0 webcolors24.8.0 webencodings0.5.1 websocket-client1.8.0 Werkzeug3.0.6 wheel0.44.0 widgetsnbextension4.0.15 yapf0.32.0 zipp3.20.2# packages in environment at /root/miniconda3/envs/maptrv2:## Name Version Build Channel_libgcc_mutex0.1main https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main _openmp_mutex5.11_gnu https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main absl-py2.3.1 pypi_0 pypi addict2.4.0 pypi_0 pypi anyio4.5.2 pypi_0 pypi argcomplete3.6.3 pypi_0 pypi argon2-cffi25.1.0 pypi_0 pypi argon2-cffi-bindings21.2.0 pypi_0 pypi arrow1.4.0 pypi_0 pypi asttokens3.0.1 pypi_0 pypi async-lru2.0.4 pypi_0 pypi attrs25.3.0 pypi_0 pypi av12.3.0 pypi_0 pypi av20.2.1 pypi_0 pypi babel2.18.0 pypi_0 pypi backcall0.2.0 pypi_0 pypi backports-zoneinfo0.2.1 pypi_0 pypi beautifulsoup44.14.3 pypi_0 pypi black24.8.0 pypi_0 pypi bleach6.1.0 pypi_0 pypi ca-certificates2026.4.22 hbd8a1cb_0 conda-forge cachetools5.5.2 pypi_0 pypi certifi2026.4.22 pypi_0 pypi cffi1.17.1 pypi_0 pypi charset-normalizer3.4.7 pypi_0 pypi click8.1.8 pypi_0 pypi colorlog6.10.1 pypi_0 pypicomm0.2.3 pypi_0 pypi contourpy1.1.1 pypi_0 pypi cryptography47.0.0 pypi_0 pypi cycler0.12.1 pypi_0 pypi debugpy1.8.20 pypi_0 pypi decorator5.2.1 pypi_0 pypi defusedxml0.7.1 pypi_0 pypi dependency-groups1.3.1 pypi_0 pypi descartes1.1.0 pypi_0 pypi distlib0.4.0 pypi_0 pypi e1.4.5 pypi_0 pypi exceptiongroup1.3.1 pypi_0 pypi executing2.2.1 pypi_0 pypi fastjsonschema2.21.2 pypi_0 pypi filelock3.16.1 pypi_0 pypi fire0.7.1 pypi_0 pypi flake87.1.2 pypi_0 pypi fonttools4.57.0 pypi_0 pypi fqdn1.5.1 pypi_0 pypi fsspec2025.3.0 pypi_0 pypi geometrickernelattention1.0pypi_0 pypi google-auth2.50.0