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princeton-vl / DROID-SLAM

BSD 3-Clause "New" or "Revised" License
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How to use backend for real-time #122

Closed ERGOWHO closed 6 months ago

ERGOWHO commented 6 months ago

In the droid.py self.backend() is commented. But I need to run real-time Global Boundle Adjust ment for each keyframe for my project.

If I keep self.backend(), it will have error :

0it [00:00, ?it/s] Traceback (most recent call last): File "/home/splatmap/demo.py", line 431, in poses, disps= droid.track(t, image, intrinsics=intrinsics) File "/home/splatmap/droid_slam/droid.py", line 123, in track self.backend(1) File "/home/miniconda3/envs/splatmap/lib/python3.9/site-packages/torch/utils/_contextlib.py", line 115, in decorate_context return func(*args, **kwargs) File "/home/splatmap/droid_slam/droid_backend.py", line 34, in call graph.add_proximity_factors(rad=self.backend_radius, File "/home/splatmap/droid_slam/factor_graph.py", line 374, in add_proximity_factors ii, jj = torch.as_tensor(es, device=self.device).unbind(dim=-1) ValueError: not enough values to unpack (expected 2, got 0)

Anyone have any idea for this issue?

2cu-1001 commented 2 months ago

Can you share how you solved this problem please? Thank you