Comments (15)
What configs should I use for RealSense D435i?
Could you please provide a config file?
from splatam.
I recommend not using the Replica Config file as your base config. The iPhone config file is more reasonable in terms of learning rate and other parameters.
Unfortunately, we don't currently have a way to look at the reconstruction while SplaTAM is running. That's in the work. We generally use the visualize_tracking_loss
config to debug out the tracking. Once tracking works, the rest of the pipeline typically works seamlessly.
from splatam.
Hi @hhcxx2006, it would be great if you could share the data so that we can take a look (if things aren't still working).
Thanks for your interest in a RealSense demo. We will potentially consider this for V2.
from splatam.
And even I changed the picture resolution from 1280 * 720 to 640 * 360. The error is also occured. CUDA is out of memory.
from splatam.
Hi, the error could be due to the following reasons:
-
Could you instead use torch.eye(4).float() for the dummy pose? The GradSLAM dataloader converts all the poses relative to the first frame, where the first frame is identity. We use that identity pose to initialize our first frame pose. This might be causing potential bugs in that step.
-
Is the depth scaling & intrinsics correct?
-
If it's a Tracking Failure:
How many iterations of tracking and mapping are you using? Also, what's the frame rate of the capture, and how much is the sensor moving between each frame?
In the current version, SplaTAM's number of tracking iterations depends on the camera motion between the frames.
An easy way to debug this would be to set the following config to True
and see if your tracking is converging to the correct pose:
SplaTAM/configs/iphone/splatam.py
Line 64 in df59ee2
You can also set the num_frames
to a shorter number (10-50) to see if things are working.
SplaTAM/configs/iphone/splatam.py
Line 59 in df59ee2
from splatam.
Hi, the depth scaling & intrinsics are correct, I am sure. The intrinsics in above picture is not the newest.
I use 40 iterations of tracking and 60 iterations of mapping, just the same as the config file of Replica.
The frame rate is 10 FPS, maybe the frame rate is too low. I will use 30 FPS to have another test. Thank you!
By the way, I wonder if there is a way to visualize the whole process of reconstruction? The words in the terminal are not quite intuitive. Can I visualize the whole process for RealSense data?
from splatam.
Okay!
Thank you for your help! I get it. I will have another try. Thank you!
from splatam.
Hi,I have collected data many times. During the collection process, I move the camera slowly and walk slowly. I use 30 fps to collect the data, but finally the code still shows cuda is out of memory. The 32G memory is used up. What should I do? What's wrong with this?The resolution is 1280 * 720. If num_frames
set to a shorter number (10-50), it can run sucessfully, but I need to reconstruct the whole scene. I need the whole data. Thank you!
from splatam.
If I provide external camera pose and do not want to use your tracking method, what should I do?
from splatam.
![image](https://private-user-images.githubusercontent.com/24999387/289821798-d5ea0df4-2189-4cc2-8db4-9b2a1fdec61c.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE2MDk0NTcsIm5iZiI6MTcyMTYwOTE1NywicGF0aCI6Ii8yNDk5OTM4Ny8yODk4MjE3OTgtZDVlYTBkZjQtMjE4OS00Y2MyLThkYjQtOWIyYTFmZGVjNjFjLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MjIlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzIyVDAwNDU1N1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTAwMWE1MTRiMTFlNjU4NzJkOGQ4MDMwNjQ5YmM5ZWNmMzQyNmI0MTQ0YTRjMDJiYTc3MWNiMjZlNjhhNzdhZjAmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.KAMfHeToe91lQg1EtBcg2gzig3eoFkuvgOasr0ceOWk)
from splatam.
Thank you for providing the code and for your question. I am using a Realsense D435i camera. Could you please explain how to create a dataset? Also, what modifications are needed for the author's code? I am encountering the following error.Looking forward to your reply.
from splatam.
Also interested in this! Starting to try with Realsense D455
from splatam.
I'm using the config file for replica to test datasets collected by realsense d435.It turns out that the mapping quality is not good enough,especially the edges and corners cannot be reconstructed.(The intrinsics and depth scale are set accurately).Can I get some suggestions on selecting configuration parameters?
from splatam.
If I provide external camera pose and do not want to use your tracking method, what should I do?
Just set use_gt_pose=True, as `configs/replica/splatam.py':
tracking=dict(
use_gt_poses=False, # Use GT Poses for Tracking
forward_prop=True, # Forward Propagate Poses
num_iters=tracking_iters,
use_sil_for_loss=True,
sil_thres=0.99,
use_l1=True,
ignore_outlier_depth_loss=False,
loss_weights=dict(
im=0.5,
depth=1.0,
),
lrs=dict(
means3D=0.0,
rgb_colors=0.0,
unnorm_rotations=0.0,
logit_opacities=0.0,
log_scales=0.0,
cam_unnorm_rots=0.0004,
cam_trans=0.002,
),
),
But in my experience, even if I use gt_poses, the mapping result isn't good enough. I come up with some reasons for this :
- Tracking trajectory isn't complicated enough. I mean maybe good mapping result need up and down trajectory like replica dataset.
- Gaussians prune method. Maybe the authors finetuned those methods to accommodate those datasets they evaluate at.
- As @Nik-V9 mentioned, learning rate issue.
from splatam.
Hello, have you solved this problem? Even if I set the parameters very low, my computer will still run out of GPU memory.
from splatam.
Related Issues (20)
- How to create a new dataset HOT 1
- Query regarding constant camera intrinsics HOT 8
- Type of Loss Function HOT 2
- GPU memory during training HOT 1
- Query regarding first camera pose HOT 2
- Query regarding Scannet dataset config HOT 2
- Query regarding data loading for custom dataset HOT 2
- Question about the evaluation metrics
- Query regarding Replica Dataset Version & Performance HOT 3
- Question regarding number of frames tracked during SLAM HOT 1
- Inquiry Regarding Runtime Discrepancies in Splatam HOT 4
- Why is the projmatrix in cam the same to first frame? HOT 3
- diff-gaussian-rasterization error HOT 2
- PSNR are not good.
- Video was taken for map reconstruction
- Clarification Needed on Code Questions
- Confusing about Trajectory Evaluation Function evaluate_ate
- CUDA OUT OF MEMORY
- D435i real-time or offline slam?
- Question regarding the shape of the mask created from the `depth`.
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from splatam.