ubuntu 安装使用annconda，yolact_ros示例

一、安装annconda

1、官网下载anaconda下载链接

根据需要下载自己想要的版本，本文下载的是Anaconda3-5.3.0-Linux-x86_64

2、cd 下载目录

bash Anaconda3-5.3.0-Linux-x86_64.sh

提示信息“Do you wish to proceed with the installation of Microsoft VSCode? [yes|no]”，输入no，其余一路回车enter或者yes

3、环境配置

在~/.bashrc中添加

alias start_anaconda='source ~/anaconda3/bin/activate'

之后需要激活anaconda 环境，在终端输入 start_anaconda进入anaconda的base环境。

二、yolact_ros的使用

1、创建yolact环境,python=3.6

conda create -n yolact python=3.6
conda activate yolact

2、安装环境依赖

conda install --channel https://conda.anaconda.org/conda-forge rospkg
conda install --channel https://conda.anaconda.org/conda-forge empy
pip install pillow pycocotools matplotlib
pip install -i https://pypi.douban.com/simple/ pip install opencv-python==4.3.0.38
conda install pytorch==1.7.1 torchvision==0.8.2 torchaudio==0.7.2 cudatoolkit=10.2 -c pytorch

以下是正常运行的Yolact环境配置 文件(yolact.yaml)：

 可通过如下命令直接配置yolact环境：

conda env create --file yolact.yml

name: yolact
channels:
  - pytorch
  - conda-forge
  - defaults
dependencies:
  - _libgcc_mutex=0.1=main
  - _openmp_mutex=5.1=1_gnu
  - blas=1.0=mkl
  - ca-certificates=2023.12.12=h06a4308_0
  - catkin_pkg=1.0.0=pyhd8ed1ab_0
  - certifi=2021.5.30=py36h06a4308_0
  - cudatoolkit=11.0.221=h6bb024c_0
  - dataclasses=0.8=pyh4f3eec9_6
  - distro=1.8.0=pyhd8ed1ab_0
  - docutils=0.13.1=py36_0
  - empy=3.3.4=pyh9f0ad1d_1
  - freetype=2.12.1=h4a9f257_0
  - intel-openmp=2022.1.0=h9e868ea_3769
  - jpeg=9b=h024ee3a_2
  - lcms2=2.12=h3be6417_0
  - ld_impl_linux-64=2.38=h1181459_1
  - libffi=3.3=he6710b0_2
  - libgcc-ng=11.2.0=h1234567_1
  - libgomp=11.2.0=h1234567_1
  - libpng=1.6.39=h5eee18b_0
  - libstdcxx-ng=11.2.0=h1234567_1
  - libtiff=4.2.0=h85742a9_0
  - libuv=1.44.2=h5eee18b_0
  - libwebp-base=1.3.2=h5eee18b_0
  - lz4-c=1.9.4=h6a678d5_0
  - mkl=2020.2=256
  - mkl-service=2.3.0=py36he8ac12f_0
  - mkl_fft=1.3.0=py36h54f3939_0
  - mkl_random=1.1.1=py36h0573a6f_0
  - ncurses=6.4=h6a678d5_0
  - ninja=1.10.2=h06a4308_5
  - ninja-base=1.10.2=hd09550d_5
  - numpy-base=1.19.2=py36hfa32c7d_0
  - olefile=0.46=py36_0
  - openjpeg=2.4.0=h3ad879b_0
  - openssl=1.1.1w=h7f8727e_0
  - pip=21.2.2=py36h06a4308_0
  - pyparsing=3.1.1=pyhd8ed1ab_0
  - python=3.6.13=h12debd9_1
  - python-dateutil=2.8.2=pyhd8ed1ab_0
  - python_abi=3.6=2_cp36m
  - pytorch=1.7.1=py3.6_cuda11.0.221_cudnn8.0.5_0
  - pyyaml=5.4.1=py36h8f6f2f9_1
  - readline=8.2=h5eee18b_0
  - rospkg=1.5.0=pyhd8ed1ab_0
  - setuptools=58.0.4=py36h06a4308_0
  - six=1.16.0=pyh6c4a22f_0
  - sqlite=3.41.2=h5eee18b_0
  - tk=8.6.12=h1ccaba5_0
  - typing_extensions=4.1.1=pyh06a4308_0
  - wheel=0.37.1=pyhd3eb1b0_0
  - xz=5.4.5=h5eee18b_0
  - yaml=0.2.5=h7f98852_2
  - zlib=1.2.13=h5eee18b_0
  - zstd=1.4.9=haebb681_0
  - pip:
    - cycler==0.11.0
    - install==1.3.5
    - kiwisolver==1.3.1
    - matplotlib==3.3.4
    - numpy==1.19.5
    - opencv-python==4.3.0.38
    - pillow==8.4.0
    - pycocotools==2.0.7
    - torch==1.9.1+cu111
    - torchaudio==0.9.1
    - torchvision==0.10.1+cu111
prefix: /home/gjw/anaconda3/envs/yolact

3、编译yolact_ros包

catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so


#修改为自己环境的python目录
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/home/gjw/anaconda3/envs/yolact/bin/python3 -DPYTHON_INCLUDE_DIR=/home/gjw/anaconda3/envs/yolact/include/python3.6m -DPYTHON_LIBRARY=/home/gjw/anaconda3/envs/yolact/lib/libpython3.6m.so

4、运行yolact_ros

# 注意更改 节点订阅的话题名
roslaunch yolact_ros yolact_ros.launch