Hello, author.
Thank you so much for your work. I have a question for you：
The cuda version I use is 10.2, and the pytorch version is 1.7. When configuring the pytorch3D library, it has been configured poorly. What is the reason for this, can you provide the dependent libraries of your code environment?

Hi,
Thanks for your great work!
I have a question when reproducting the project on my own PC.

I replaced the knn_points and knn_gather of torch3d with pointnet2_utils.knn_point and grouping_operation.
Thanks!

Except for the special environment configuration of setup, is everything else the same as open3dsot requirement.txt?
Why does this project not exist the file enables novices to configure the environment.

I tested the cxtrack3d pretrained weights ,and I got:
cxtrack_kitti_car_81.6_69.1.ckpt:
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ Test metric ┃ DataLoader 0 ┃
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ precesion │ 79.60032653808594 │
│ runtime │ 0.018718518316745758 │
│ success │ 67.48014688491821 │
└───────────────────────────┴───────────────────────────┘
cxtrack_kitti_pedestrian_91.5_67.0.ckpt:
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ Test metric ┃ DataLoader 0 ┃
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ precesion │ 87.14067840576172 │
│ runtime │ 0.019559158012270927 │
│ success │ 63.82514238357544 │
└───────────────────────────┴───────────────────────────┘

My environment : pytorch 2.01,cuda 11.8,pytorch_lightning 2.04
data are from kitti official site.

Under the same environment and data, M2TRACK (OPEN3DSOT) GOT:

github page results:
M2Track-KITTI | Car | 67.43 | 81.04 | pretrained_models/mmtrack_kitti_car.ckpt

M2Track-KITTI | Pedestrian | 60.61 | 89.39 | pretrained_models/mmtrack_kitti_pedestrian.ckpt

my test results:

pedestrian:
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ Test metric ┃ DataLoader 0 ┃
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ precision/test_epoch │ 89.54376220703125 │
│ success/test_epoch │ 60.786376953125 │
└───────────────────────────┴───────────────────────────┘
car:
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ Test metric ┃ DataLoader 0 ┃
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ precision/test_epoch │ 81.04179382324219 │
│ success/test_epoch │ 67.47976684570312 │
└───────────────────────────┴───────────────────────────┘

我的cuda版本是11.5，gcc版本是11.4.0，但是我安装的是conda install pytorch==1.8.0 torchvision==0.9.0 torchaudio==0.8.0 cudatoolkit=11.1 -c pytorch -c conda-forge
，并且cuda是和pytorch兼容的，然后在安装pointnet2_ops的时候出现了错误，希望大佬们给予我一些建议，非常感谢！下面是我的具体报错以及我的项目环境：
RuntimeError: Error compiling objects for extension
[end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for pointnet2_ops
Running setup.py clean for pointnet2_ops
error: subprocess-exited-with-error

× python setup.py clean did not run successfully.
│ exit code: 1
╰─> [6 lines of output]
Traceback (most recent call last):
File "", line 2, in
File "", line 34, in
File "/tmp/pip-install-j1h2_0yn/pointnet2-ops_980c82c26940409fb794907eafa9070d/pointnet2_ops_lib/setup.py", line 17, in
exec(open(osp.join("pointnet2_ops", "_version.py")).read())
FileNotFoundError: [Errno 2] No such file or directory: 'pointnet2_ops/_version.py'
[end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed cleaning build dir for pointnet2_ops
Failed to build pointnet2_ops
ERROR: Could not build wheels for pointnet2_ops, which is required to install pyproject.toml-based projects

Name Version Build Channel

_libgcc_mutex 0.1 conda_forge conda-forge
_openmp_mutex 4.5 2_gnu conda-forge
absl-py 2.0.0 pypi_0 pypi
addict 2.4.0 pypi_0 pypi
aiofiles 22.1.0 pypi_0 pypi
aiohttp 3.9.1 pypi_0 pypi
aiosignal 1.3.1 pypi_0 pypi
aiosqlite 0.19.0 pypi_0 pypi
anyio 4.2.0 pypi_0 pypi
apricot-select 0.6.1 pypi_0 pypi
argon2-cffi 23.1.0 pypi_0 pypi
argon2-cffi-bindings 21.2.0 pypi_0 pypi
arrow 1.3.0 pypi_0 pypi
asttokens 2.4.1 pypi_0 pypi
async-timeout 4.0.3 pypi_0 pypi
attrs 23.1.0 pypi_0 pypi
babel 2.14.0 pypi_0 pypi
backcall 0.2.0 pypi_0 pypi
beautifulsoup4 4.12.2 pypi_0 pypi
blas 1.0 mkl https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free
bleach 6.1.0 pypi_0 pypi
brotli-python 1.0.9 py38h6a678d5_7 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
bzip2 1.0.8 h7f98852_4 conda-forge
ca-certificates 2023.12.12 h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
cachetools 4.2.4 pypi_0 pypi
certifi 2023.11.17 pyhd8ed1ab_0 conda-forge
cffi 1.16.0 py38h5eee18b_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
charset-normalizer 3.3.2 pypi_0 pypi
colorama 0.4.6 pyhd8ed1ab_0 conda-forge
comm 0.2.0 pypi_0 pypi
contourpy 1.1.1 pypi_0 pypi
cryptography 41.0.7 py38hdda0065_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
cudatoolkit 11.1.1 hb139c0e_12 conda-forge
cycler 0.12.1 pypi_0 pypi
cython 0.29.37 pypi_0 pypi
debugpy 1.8.0 pypi_0 pypi
decorator 5.1.1 pypi_0 pypi
defusedxml 0.7.1 pypi_0 pypi
deprecation 2.1.0 pypi_0 pypi
descartes 1.1.0 pypi_0 pypi
easydict 1.9 pypi_0 pypi
entrypoints 0.4 pypi_0 pypi
exceptiongroup 1.2.0 pypi_0 pypi
executing 2.0.1 pypi_0 pypi
fastjsonschema 2.19.0 pypi_0 pypi
ffmpeg 4.3 hf484d3e_0 pytorch
filelock 3.13.1 pypi_0 pypi
fire 0.5.0 pypi_0 pypi
fonttools 4.47.0 pypi_0 pypi
fqdn 1.5.1 pypi_0 pypi
freetype 2.10.4 h0708190_1 conda-forge
frozenlist 1.4.1 pypi_0 pypi
fsspec 2023.12.2 pypi_0 pypi
future 0.18.3 pypi_0 pypi
fvcore 0.1.5.post20221221 pypi_0 pypi
giflib 5.2.1 h0b41bf4_3 conda-forge
gmp 6.2.1 h58526e2_0 conda-forge
gnutls 3.6.13 h85f3911_1 conda-forge
google-auth 1.35.0 pypi_0 pypi
google-auth-oauthlib 0.4.6 pypi_0 pypi
grpcio 1.60.0 pypi_0 pypi
idna 3.6 pypi_0 pypi
importlib-metadata 7.0.1 pypi_0 pypi
importlib-resources 6.1.1 pypi_0 pypi
intel-openmp 2021.4.0 h06a4308_3561 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
iopath 0.1.10 pypi_0 pypi
ipykernel 6.27.1 pypi_0 pypi
ipython 8.12.3 pypi_0 pypi
ipython-genutils 0.2.0 pypi_0 pypi
ipywidgets 8.1.1 pypi_0 pypi
isoduration 20.11.0 pypi_0 pypi
jedi 0.19.1 pypi_0 pypi
jinja2 3.1.2 pypi_0 pypi
joblib 1.3.2 pypi_0 pypi
jpeg 9b 0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free
json5 0.9.14 pypi_0 pypi
jsonpointer 2.4 pypi_0 pypi
jsonschema 4.20.0 pypi_0 pypi
jsonschema-specifications 2023.12.1 pypi_0 pypi
jupyter 1.0.0 pypi_0 pypi
jupyter-client 7.4.9 pypi_0 pypi
jupyter-console 6.6.3 pypi_0 pypi
jupyter-core 5.5.1 pypi_0 pypi
jupyter-events 0.9.0 pypi_0 pypi
jupyter-packaging 0.11.1 pypi_0 pypi
jupyter-server 2.12.1 pypi_0 pypi
jupyter-server-fileid 0.9.1 pypi_0 pypi
jupyter-server-terminals 0.5.0 pypi_0 pypi
jupyter-server-ydoc 0.8.0 pypi_0 pypi
jupyter-ydoc 0.2.5 pypi_0 pypi
jupyterlab 3.6.6 pypi_0 pypi
jupyterlab-pygments 0.3.0 pypi_0 pypi
jupyterlab-server 2.25.2 pypi_0 pypi
jupyterlab-widgets 3.0.9 pypi_0 pypi
kiwisolver 1.4.5 pypi_0 pypi
lame 3.100 h7f98852_1001 conda-forge
lcms2 2.12 h3be6417_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ld_impl_linux-64 2.38 h1181459_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libffi 3.4.4 h6a678d5_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libgcc-ng 13.2.0 h807b86a_3 conda-forge
libgfortran-ng 11.2.0 h00389a5_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libgfortran5 11.2.0 h1234567_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libgomp 13.2.0 h807b86a_3 conda-forge
libiconv 1.17 h166bdaf_0 conda-forge
libpng 1.6.37 h21135ba_2 conda-forge
libstdcxx-ng 13.2.0 h7e041cc_3 conda-forge
libtiff 4.1.0 h2733197_1 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libuv 1.43.0 h7f98852_0 conda-forge
libwebp 1.2.0 h89dd481_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
lightning-utilities 0.10.0 pypi_0 pypi
llvmlite 0.41.1 pypi_0 pypi
lz4-c 1.9.3 h9c3ff4c_1 conda-forge
markdown 3.5.1 pypi_0 pypi
markupsafe 2.1.3 pypi_0 pypi
matplotlib 3.7.4 pypi_0 pypi
matplotlib-inline 0.1.6 pypi_0 pypi
mistune 3.0.2 pypi_0 pypi
mkl 2021.4.0 h06a4308_640 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
mkl-service 2.4.0 py38h95df7f1_0 conda-forge
mkl_fft 1.3.1 py38h8666266_1 conda-forge
mkl_random 1.2.2 py38h1abd341_0 conda-forge
mpmath 1.3.0 pypi_0 pypi
multidict 6.0.4 pypi_0 pypi
nbclassic 1.0.0 pypi_0 pypi
nbclient 0.9.0 pypi_0 pypi
nbconvert 7.13.1 pypi_0 pypi
nbformat 5.9.2 pypi_0 pypi
ncurses 6.4 h6a678d5_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
nest-asyncio 1.5.8 pypi_0 pypi
nettle 3.6 he412f7d_0 conda-forge
networkx 3.1 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ninja 1.11.0 h924138e_0 conda-forge
nose 1.3.7 pypi_0 pypi
notebook 6.5.6 pypi_0 pypi
notebook-shim 0.2.3 pypi_0 pypi
numba 0.58.1 pypi_0 pypi
numpy 1.22.0 pypi_0 pypi
nuscenes-devkit 1.1.9 pypi_0 pypi
nvidia-cublas-cu12 12.1.3.1 pypi_0 pypi
nvidia-cuda-cupti-cu12 12.1.105 pypi_0 pypi
nvidia-cuda-nvrtc-cu12 12.1.105 pypi_0 pypi
nvidia-cuda-runtime-cu12 12.1.105 pypi_0 pypi
nvidia-cudnn-cu12 8.9.2.26 pypi_0 pypi
nvidia-cufft-cu12 11.0.2.54 pypi_0 pypi
nvidia-curand-cu12 10.3.2.106 pypi_0 pypi
nvidia-cusolver-cu12 11.4.5.107 pypi_0 pypi
nvidia-cusparse-cu12 12.1.0.106 pypi_0 pypi
nvidia-nccl-cu12 2.18.1 pypi_0 pypi
nvidia-nvjitlink-cu12 12.3.101 pypi_0 pypi
nvidia-nvtx-cu12 12.1.105 pypi_0 pypi
oauthlib 3.2.2 pypi_0 pypi
olefile 0.47 pyhd8ed1ab_0 conda-forge
open3d 0.15.2 pypi_0 pypi
opencv-python 4.8.1.78 pypi_0 pypi
openh264 2.1.1 h780b84a_0 conda-forge
openssl 3.2.0 hd590300_1 conda-forge
overrides 7.4.0 pypi_0 pypi
packaging 23.2 pypi_0 pypi
pandas 1.1.5 pypi_0 pypi
pandocfilters 1.5.0 pypi_0 pypi
parso 0.8.3 pypi_0 pypi
pexpect 4.9.0 pypi_0 pypi
pickleshare 0.7.5 pypi_0 pypi
pillow 10.1.0 pypi_0 pypi
pip 23.3.1 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pkgutil-resolve-name 1.3.10 pypi_0 pypi
platformdirs 4.1.0 pypi_0 pypi
pomegranate 0.14.8 py38h4e30db6_0 conda-forge
pooch 1.7.0 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
portalocker 2.8.2 py38h578d9bd_1 conda-forge
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protobuf 3.19.0 pypi_0 pypi
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pure-eval 0.2.2 pypi_0 pypi
pyasn1 0.5.1 pypi_0 pypi
pyasn1-modules 0.3.0 pypi_0 pypi
pycocotools 2.0.7 pypi_0 pypi
pycparser 2.21 pyhd3eb1b0_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pydeprecate 0.3.1 pypi_0 pypi
pygments 2.17.2 pypi_0 pypi
pynvml 11.5.0 pypi_0 pypi
pyopenssl 23.2.0 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pyparsing 3.1.1 pypi_0 pypi
pyquaternion 0.9.9 pypi_0 pypi
pysocks 1.7.1 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
python 3.8.18 h955ad1f_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
python-dateutil 2.8.2 pypi_0 pypi
python-json-logger 2.0.7 pypi_0 pypi
python_abi 3.8 2_cp38 conda-forge
pytorch 1.8.0 py3.8_cuda11.1_cudnn8.0.5_0 pytorch
pytorch-lightning 1.5.10 pypi_0 pypi
pytorch3d 0.6.2 py38_cu111_pyt180 pytorch3d
pytz 2023.3.post1 pypi_0 pypi
pyyaml 5.4.1 pypi_0 pypi
pyzmq 24.0.1 pypi_0 pypi
qtconsole 5.5.1 pypi_0 pypi
qtpy 2.4.1 pypi_0 pypi
readline 8.2 h5eee18b_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
referencing 0.32.0 pypi_0 pypi
requests 2.31.0 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
requests-oauthlib 1.3.1 pypi_0 pypi
rfc3339-validator 0.1.4 pypi_0 pypi
rfc3986-validator 0.1.1 pypi_0 pypi
rpds-py 0.15.2 pypi_0 pypi
rsa 4.9 pypi_0 pypi
scikit-learn 1.3.2 pypi_0 pypi
scipy 1.10.1 pypi_0 pypi
send2trash 1.8.2 pypi_0 pypi
setuptools 59.5.0 pypi_0 pypi
shapely 1.8.1 pypi_0 pypi
six 1.16.0 pyh6c4a22f_0 conda-forge
sniffio 1.3.0 pypi_0 pypi
soupsieve 2.5 pypi_0 pypi
sqlite 3.41.2 h5eee18b_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
stack-data 0.6.3 pypi_0 pypi
sympy 1.12 pypi_0 pypi
tabulate 0.9.0 pyhd8ed1ab_1 conda-forge
tdqm 0.0.1 pypi_0 pypi
tensorboard 2.4.1 pypi_0 pypi
tensorboard-data-server 0.7.2 pypi_0 pypi
tensorboard-plugin-wit 1.8.1 pypi_0 pypi
termcolor 2.4.0 pypi_0 pypi
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threadpoolctl 3.2.0 pypi_0 pypi
tinycss2 1.2.1 pypi_0 pypi
tk 8.6.12 h1ccaba5_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
tomli 2.0.1 pypi_0 pypi
tomlkit 0.12.3 pypi_0 pypi
torch 2.1.2 pypi_0 pypi
torchaudio 0.8.0 py38 pytorch
torchmetrics 0.4.1 pypi_0 pypi
torchvision 0.9.0 py38_cu111 pytorch
tornado 6.4 pypi_0 pypi
tqdm 4.61.1 pypi_0 pypi
traitlets 5.14.0 pypi_0 pypi
triton 2.1.0 pypi_0 pypi
types-python-dateutil 2.8.19.14 pypi_0 pypi
typing_extensions 4.9.0 pyha770c72_0 conda-forge
tzdata 2023.3 pypi_0 pypi
uri-template 1.3.0 pypi_0 pypi
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wcwidth 0.2.12 pypi_0 pypi
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websocket-client 1.7.0 pypi_0 pypi
werkzeug 3.0.1 pypi_0 pypi
wheel 0.41.2 py38h06a4308_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
widgetsnbextension 4.0.9 pypi_0 pypi
xz 5.4.5 h5eee18b_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
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zipp 3.17.0 pypi_0 pypi
zlib 1.2.13 h5eee18b_0 https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
zstd 1.4.9 ha95c52a_0 conda-forge