Comments (6)
Hi, this seems to be a problem with the visualizer. The whole scene's camera trajectory is getting visualized. For some reason, your interactive rendering is not working.
Could you let me know if you're using the latest version of the scripts? Could you share your params.npz
so that I could check things on my end?
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No, the params.npz
was generated by your yesterday code. Here is the file, you can check it.
https://drive.google.com/file/d/1Py02yvSJZmlnGp3KrTkxRX3tliNtpmh7/view?usp=drive_link
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Thanks for sharing the params. The visualization looks correct on my end.
![Replica Interactive Viz](https://private-user-images.githubusercontent.com/56788999/288770424-21232372-45f4-4186-8035-20815b041062.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE4MjE2NDIsIm5iZiI6MTcyMTgyMTM0MiwicGF0aCI6Ii81Njc4ODk5OS8yODg3NzA0MjQtMjEyMzIzNzItNDVmNC00MTg2LTgwMzUtMjA4MTViMDQxMDYyLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MjQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzI0VDExNDIyMlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWE1M2RkZGJmNTNhMTExYWY5MmM1N2I0ZjRlNzA1MWFjNTA1NDY5M2VjZTA4NTcwNDU5Mjk5ZDgxODkyNDc0OWQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.iR6R2ddZiUUYawxcGVN_LF_1NG8qGGynwa0DVsiV2iI)
This looks like an Open3D issue on your end. Are you using the correct version (0.16.0)?
Another check would be to add a print statement at this line to check if your code is entering the while loop (interactive rendering):
SplaTAM/viz_scripts/final_recon.py
Line 243 in b00e6ea
from splatam.
Hi, thank you for your help. I changed my Open3D from 0.17.0 to 0.16.0. Then it works! Thank you!
Now I want to use Intel RealSense D435i to collect my own data. I wonder what inputs should I have? I can collect rgb and depth images. Should I provide camera pose somewhere? How to use my own data? Thank you
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Hi, we have a dataloader for real sense: https://github.com/spla-tam/SplaTAM/blob/main/datasets/gradslam_datasets/realsense.py
You can use this as a starting point to set up the code. The code doesn't require ground truth poses; however, the dataloader requires it. Initializing a list of poses to identity in the dataloader should also work, where the length of the list is the number of frames.
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Closing this issue for now. If you have further queries regarding RealSense, please open another issue.
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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`.
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