Step 1: clone uniad-trt
git clone https://github.com/NVIDIA/DL4AGX.git
cd DL4AGX/AV-Solutions/uniad-trt
git submodule update --init --recursive
Step 2: apply a patch to make UniAD compatible with torch1.12 and corresponding mmcv/mmdet/mmdet3d version
cd UniAD && git apply --reject --whitespace=fix --exclude='*.DS_Store' ../patch/uniad-torch1.12.patch
Step 3: apply a patch related to modification of original UniAD code for onnx export
git apply --reject --whitespace=fix --exclude='*.DS_Store' ../patch/uniad-onnx-export.patch && cd ..
Step 4: copy bev_mmdet3d to UniAD
cp -r ./dependencies/BEVFormer_tensorrt/third_party ./UniAD/
Step 5: rename bev_mmdet3d as uniad_mmdet3d
mv ./UniAD/third_party/bev_mmdet3d ./UniAD/third_party/uniad_mmdet3d
Step 6: apply a patch to borrow more modules and functions from mmdet3d
cd UniAD
git apply --exclude='*.DS_Store' ../patch/mmdet3d.patch
Step 7: copy part of BEVFormer_tensorrt util functions to UniAD & apply a small patch for onnx export support
cd ..
chmod +x ./tools/add_bevformer_tensorrt_support.sh
./tools/add_bevformer_tensorrt_support.sh
cd UniAD
git apply --exclude='*.DS_Store' ../patch/bevformer_tensorrt.patch
Step 8: copy tool/config/helper files for UniAD onnx export
cd ..
chmod +x ./tools/add_onnx_export_support.sh
./tools/add_onnx_export_support.sh
chmod +x ./UniAD/tools/*.sh
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