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ToniRV / NeRF-SLAM

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. https://arxiv.org/abs/2210.13641 + Sigma-Fusion: Probabilistic Volumetric Fusion for Dense Monocular SLAM https://arxiv.org/abs/2210.01276
BSD 2-Clause "Simplified" License
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AttributeError: 'gtsam.gtsam.ISAM2Params' object has no attribute 'enableRelinearization' #40

Open Yuea922 opened 1 year ago

Yuea922 commented 1 year ago

Traceback (most recent call last): File "./examples/slam_demo.py", line 200, in run(args) File "./examples/slam_demo.py", line 143, in run slam_module.spin() # visualizer should be the main spin, but pytorch has a memory bug/leak if threaded... File "/home/qzy/1_learn/NeRF-SLAM/./examples/../pipeline/pipeline_module.py", line 88, in spin self.initialize_module() File "/home/qzy/1_learn/NeRF-SLAM/./examples/../slam/slam_module.py", line 19, in initialize_module self.slam = VioSLAM(self.name, self.args, self.device) File "/home/qzy/1_learn/NeRF-SLAM/./examples/../slam/vio_slam.py", line 100, in init self.backend = iSAM2() File "/home/qzy/1_learn/NeRF-SLAM/./examples/../solvers/nonlinear_solver.py", line 51, in init isam_params.enableRelinearization = True AttributeError: 'gtsam.gtsam.ISAM2Params' object has no attribute 'enableRelinearization'

Kashu7100 commented 1 year ago

Maybe you can modify it like:

isam_params.setEnableRelinearization(True)
isam_params.setEnablePartialRelinearizationCheck(False)
isam_params.setRelinearizeThreshold(0.1) # TODO
isam_params.setRelinearizeSkip(10)