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spla-tam / SplaTAM

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)
https://spla-tam.github.io/
BSD 3-Clause "New" or "Revised" License
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online demo issue #5

Closed H-tr closed 11 months ago

H-tr commented 11 months ago

Hi! Thanks for your impressive work.

When I'm trying to use the online demo, I got the following error:

Waiting for frames...
1/10 frames received
1/10 frames received
Traceback (most recent call last):
  File "/home/run/Data/SplaTAM/scripts/iphone_demo.py", line 561, in <module>
    dataset_capture_loop(reader, Path(config['workdir']), config['overwrite'], 
  File "/home/run/Data/SplaTAM/scripts/iphone_demo.py", line 156, in dataset_capture_loop
    images_dir.mkdir()
  File "/home/run/miniconda3/envs/splatam/lib/python3.10/pathlib.py", line 1175, in mkdir
    self._accessor.mkdir(self, mode)
FileExistsError: [Errno 17] File exists: 'experiments/iPhone_Captures/splatam_demo/rgb'
Seed set to: 0 (type: <class 'int'>)
Traceback (most recent call last):
  File "/home/run/Data/SplaTAM/viz_scripts/final_recon.py", line 297, in <module>
    visualize(scene_path, viz_cfg)
  File "/home/run/Data/SplaTAM/viz_scripts/final_recon.py", line 170, in visualize
    w2c, k = load_camera(cfg, scene_path)
  File "/home/run/Data/SplaTAM/viz_scripts/final_recon.py", line 26, in load_camera
    all_params = dict(np.load(scene_path, allow_pickle=True))
  File "/home/run/miniconda3/envs/splatam/lib/python3.10/site-packages/numpy/lib/npyio.py", line 427, in load
    fid = stack.enter_context(open(os_fspath(file), "rb"))
FileNotFoundError: [Errno 2] No such file or directory: '././experiments/iPhone_Captures/splatam_demo/SplaTAM_iPhone/params.npz'

If I change the mkdir() to mkdir(exist_ok=True), the output became

Waiting for frames...
1/10 frames received
1/10 frames received
1/10 frames received
1/10 frames received

and keep repeating. It seems my program failed to receive continuous sequential images.

Do you have any suggestions?

Nik-V9 commented 11 months ago

Hi, Thanks for testing out the code!

The Python script is not receiving depth. If a depth image is not received, the script will skip the image.

https://github.com/spla-tam/SplaTAM/blob/b00e6eaa4fd11ea915de4749c422fce7fe10741c/scripts/iphone_demo.py#L188

Is your NeRFCapture app mentioning "depth supported" in the top right corner below connections? Please make sure to use a Pro series iPhone or a LiDAR-equipped Apple Device.

H-tr commented 11 months ago

Thanks for your kind reply, I will close the issue. Btw, there is a small spelling problem in README.md for downloading datasets. For example, the download_replica.sh should be downloads_replica.sh haha