环境配置
代码地址：https://github.com/princeton-vl/DROID-SLAM
git 代码
官方方法，直接拉取：
git clone --recursive https://github.com/princeton-vl/DROID-SLAM.git
如果从github拉取很慢，可以直接从gitee上拉取同步的代码，那样会快很多，从gitee导入仓库这里就能找到gitee同步的仓库
拉取代码
git clone https://gitee.com/ssmem/DROID-SLAM
创建环境
我在服务器端，无法可视化界面，就选择如下的yaml文件进行conda环境创建：
conda env create -f environment_novis.yaml
直接使用原本的yaml文件不行，我在github的issue里找到了修改为适合自己这个的方法，修改environment_novis.yaml其中的内容为：
name: droidenv
channels:
- rusty1s
- pytorch
- nvidia
- conda-forge
- defaults
dependencies:
- _libgcc_mutex=0.1=conda_forge
- _openmp_mutex=4.5=2_kmp_llvm
- absl-py=1.4.0=pyhd8ed1ab_0
- aiohttp=3.8.4=py39h72bdee0_0
- aiosignal=1.3.1=pyhd8ed1ab_0
- alsa-lib=1.2.8=h166bdaf_0
- aom=3.5.0=h27087fc_0
- async-timeout=4.0.2=pyhd8ed1ab_0
- attr=2.5.1=h166bdaf_1
- attrs=23.1.0=pyh71513ae_1
- blas=2.116=mkl
- blas-devel=3.9.0=16_linux64_mkl
- blinker=1.6.2=pyhd8ed1ab_0
- brotli=1.0.9=h166bdaf_8
- brotli-bin=1.0.9=h166bdaf_8
- brotlipy=0.7.0=py39hb9d737c_1005
- bzip2=1.0.8=h7f98852_4
- c-ares=1.19.0=hd590300_0
- ca-certificates=2023.5.7=hbcca054_0
- cachetools=5.3.0=pyhd8ed1ab_0
- cairo=1.16.0=ha61ee94_1014
- certifi=2023.5.7=pyhd8ed1ab_0
- cffi=1.15.1=py39he91dace_3
- charset-normalizer=2.1.1=pyhd8ed1ab_0
- click=8.1.3=unix_pyhd8ed1ab_2
- colorama=0.4.6=pyhd8ed1ab_0
- contourpy=1.0.7=py39h4b4f3f3_0
- cryptography=40.0.2=py39h079d5ae_0
- cudatoolkit=11.3.1=ha36c431_9
- cycler=0.11.0=pyhd8ed1ab_0
- dbus=1.13.6=h5008d03_3
- expat=2.5.0=hcb278e6_1
- ffmpeg=5.1.2=gpl_h8dda1f0_106
- fftw=3.3.10=nompi_hc118613_107
- font-ttf-dejavu-sans-mono=2.37=hab24e00_0
- font-ttf-inconsolata=3.000=h77eed37_0
- font-ttf-source-code-pro=2.038=h77eed37_0
- font-ttf-ubuntu=0.83=hab24e00_0
- fontconfig=2.14.2=h14ed4e7_0
- fonts-conda-ecosystem=1=0
- fonts-conda-forge=1=0
- fonttools=4.39.4=py39hd1e30aa_0
- freeglut=3.2.2=h9c3ff4c_1
- freetype=2.12.1=hca18f0e_1
- frozenlist=1.3.3=py39hb9d737c_0
- gettext=0.21.1=h27087fc_0
- glib=2.76.2=hfc55251_0
- glib-tools=2.76.2=hfc55251_0
- gmp=6.2.1=h58526e2_0
- gnutls=3.7.8=hf3e180e_0
- google-auth=2.18.1=pyh1a96a4e_0
- google-auth-oauthlib=1.0.0=pyhd8ed1ab_0
- graphite2=1.3.13=h58526e2_1001
- grpcio=1.54.2=py39h227be39_2
- gst-plugins-base=1.22.0=h4243ec0_2
- gstreamer=1.22.0=h25f0c4b_2
- gstreamer-orc=0.4.33=h166bdaf_0
- harfbuzz=6.0.0=h8e241bc_0
- hdf5=1.14.0=nompi_hb72d44e_103
- icu=70.1=h27087fc_0
- idna=3.4=pyhd8ed1ab_0
- importlib-metadata=6.6.0=pyha770c72_0
- importlib-resources=5.12.0=pyhd8ed1ab_0
- importlib_resources=5.12.0=pyhd8ed1ab_0
- jack=1.9.22=h11f4161_0
- jasper=2.0.33=h0ff4b12_1
- jpeg=9e=h0b41bf4_3
- keyutils=1.6.1=h166bdaf_0
- kiwisolver=1.4.4=py39hf939315_1
- krb5=1.20.1=h81ceb04_0
- lame=3.100=h166bdaf_1003
- lcms2=2.15=hfd0df8a_0
- ld_impl_linux-64=2.40=h41732ed_0
- lerc=4.0.0=h27087fc_0
- libabseil=20230125.2=cxx17_h59595ed_2
- libaec=1.0.6=hcb278e6_1
- libblas=3.9.0=16_linux64_mkl
- libbrotlicommon=1.0.9=h166bdaf_8
- libbrotlidec=1.0.9=h166bdaf_8
- libbrotlienc=1.0.9=h166bdaf_8
- libcap=2.67=he9d0100_0
- libcblas=3.9.0=16_linux64_mkl
- libclang=15.0.7=default_h7634d5b_2
- libclang13=15.0.7=default_h9986a30_2
- libcups=2.3.3=h36d4200_3
- libcurl=8.1.0=h409715c_0
- libdb=6.2.32=h9c3ff4c_0
- libdeflate=1.17=h0b41bf4_0
- libdrm=2.4.114=h166bdaf_0
- libedit=3.1.20191231=he28a2e2_2
- libev=4.33=h516909a_1
- libevent=2.1.10=h28343ad_4
- libexpat=2.5.0=hcb278e6_1
- libffi=3.4.2=h7f98852_5
- libflac=1.4.2=h27087fc_0
- libgcc-ng=12.2.0=h65d4601_19
- libgcrypt=1.10.1=h166bdaf_0
- libgfortran-ng=12.2.0=h69a702a_19
- libgfortran5=12.2.0=h337968e_19
- libglib=2.76.2=hebfc3b9_0
- libglu=9.0.0=he1b5a44_1001
- libgpg-error=1.46=h620e276_0
- libgrpc=1.54.2=hb20ce57_2
- libhwloc=2.9.1=hd6dc26d_0
- libiconv=1.17=h166bdaf_0
- libidn2=2.3.4=h166bdaf_0
- liblapack=3.9.0=16_linux64_mkl
- liblapacke=3.9.0=16_linux64_mkl
- libllvm15=15.0.7=hadd5161_1
- libnghttp2=1.52.0=h61bc06f_0
- libnsl=2.0.0=h7f98852_0
- libogg=1.3.4=h7f98852_1
- libopencv=4.7.0=py39h2ca4621_1
- libopus=1.3.1=h7f98852_1
- libpciaccess=0.17=h166bdaf_0
- libpng=1.6.39=h753d276_0
- libpq=15.3=hbcd7760_1
- libprotobuf=3.21.12=h3eb15da_0
- libsndfile=1.2.0=hb75c966_0
- libsqlite=3.42.0=h2797004_0
- libssh2=1.10.0=hf14f497_3
- libstdcxx-ng=12.2.0=h46fd767_19
- libsystemd0=253=h8c4010b_1
- libtasn1=4.19.0=h166bdaf_0
- libtiff=4.5.0=h6adf6a1_2
- libtool=2.4.7=h27087fc_0
- libudev1=253=h0b41bf4_1
- libunistring=0.9.10=h7f98852_0
- libuuid=2.38.1=h0b41bf4_0
- libuv=1.44.2=h166bdaf_0
- libva=2.18.0=h0b41bf4_0
- libvorbis=1.3.7=h9c3ff4c_0
- libvpx=1.11.0=h9c3ff4c_3
- libwebp-base=1.3.0=h0b41bf4_0
- libxcb=1.13=h7f98852_1004
- libxkbcommon=1.5.0=h79f4944_1
- libxml2=2.10.3=hca2bb57_4
- libzlib=1.2.13=h166bdaf_4
- llvm-openmp=16.0.4=h4dfa4b3_0
- lz4-c=1.9.4=hcb278e6_0
- markdown=3.4.3=pyhd8ed1ab_0
- markupsafe=2.1.2=py39h72bdee0_0
- matplotlib=3.7.1=py39hf3d152e_0
- matplotlib-base=3.7.1=py39he190548_0
- metis=5.1.0=h58526e2_1006
- mkl=2022.1.0=h84fe81f_915
- mkl-devel=2022.1.0=ha770c72_916
- mkl-include=2022.1.0=h84fe81f_915
- mpfr=4.2.0=hb012696_0
- mpg123=1.31.3=hcb278e6_0
- multidict=6.0.4=py39h72bdee0_0
- munkres=1.1.4=pyh9f0ad1d_0
- mysql-common=8.0.32=hf1915f5_2
- mysql-libs=8.0.32=hca2cd23_2
- ncurses=6.3=h27087fc_1
- nettle=3.8.1=hc379101_1
- nspr=4.35=h27087fc_0
- nss=3.89=he45b914_0
- numpy=1.24.3=py39h6183b62_0
- oauthlib=3.2.2=pyhd8ed1ab_0
- opencv=4.7.0=py39hf3d152e_1
- openh264=2.3.1=hcb278e6_2
- openjpeg=2.5.0=hfec8fc6_2
- openssl=3.1.0=hd590300_3
- p11-kit=0.24.1=hc5aa10d_0
- packaging=23.1=pyhd8ed1ab_0
- pcre2=10.40=hc3806b6_0
- pillow=9.4.0=py39h2320bf1_1
- pip=23.1.2=pyhd8ed1ab_0
- pixman=0.40.0=h36c2ea0_0
- platformdirs=3.5.1=pyhd8ed1ab_0
- ply=3.11=py_1
- pooch=1.7.0=pyha770c72_3
- protobuf=4.21.12=py39h227be39_0
- pthread-stubs=0.4=h36c2ea0_1001
- pulseaudio=16.1=hcb278e6_3
- pulseaudio-client=16.1=h5195f5e_3
- pulseaudio-daemon=16.1=ha8d29e2_3
- py-opencv=4.7.0=py39hcca971b_1
- pyasn1=0.4.8=py_0
- pyasn1-modules=0.2.7=py_0
- pycparser=2.21=pyhd8ed1ab_0
- pyjwt=2.7.0=pyhd8ed1ab_0
- pyopenssl=23.1.1=pyhd8ed1ab_0
- pyparsing=3.0.9=pyhd8ed1ab_0
- pyqt=5.15.7=py39h5c7b992_3
- pyqt5-sip=12.11.0=py39h227be39_3
- pysocks=1.7.1=pyha2e5f31_6
- python=3.9.16=h2782a2a_0_cpython
- python-dateutil=2.8.2=pyhd8ed1ab_0
- python_abi=3.9=3_cp39
- pytorch=1.10.2=py3.9_cuda11.3_cudnn8.2.0_0
- pytorch-mutex=1.0=cuda
- pytorch-scatter=2.0.9=py39_torch_1.10.0_cu113
- pyu2f=0.1.5=pyhd8ed1ab_0
- pyyaml=6.0=py39hb9d737c_5
- qt-main=5.15.8=h5d23da1_6
- re2=2023.03.02=h8c504da_0
- readline=8.2=h8228510_1
- requests=2.29.0=pyhd8ed1ab_0
- requests-oauthlib=1.3.1=pyhd8ed1ab_0
- rsa=4.9=pyhd8ed1ab_0
- scipy=1.10.1=py39h6183b62_3
- setuptools=67.7.2=pyhd8ed1ab_0
- sip=6.7.9=py39h3d6467e_0
- six=1.16.0=pyh6c4a22f_0
- suitesparse=5.10.1=h9e50725_1
- svt-av1=1.4.1=hcb278e6_0
- tbb=2021.9.0=hf52228f_0
- tensorboard=2.13.0=pyhd8ed1ab_0
- tensorboard-data-server=0.7.0=py39h079d5ae_0
- tk=8.6.12=h27826a3_0
- toml=0.10.2=pyhd8ed1ab_0
- tomli=2.0.1=pyhd8ed1ab_0
- torchaudio=0.10.2=py39_cu113
- torchvision=0.11.3=py39_cu113
- tornado=6.3.2=py39hd1e30aa_0
- tqdm=4.65.0=pyhd8ed1ab_1
- typing-extensions=4.5.0=hd8ed1ab_0
- typing_extensions=4.5.0=pyha770c72_0
- tzdata=2023c=h71feb2d_0
- unicodedata2=15.0.0=py39hb9d737c_0
- urllib3=1.26.15=pyhd8ed1ab_0
- werkzeug=2.3.4=pyhd8ed1ab_0
- wheel=0.40.0=pyhd8ed1ab_0
- x264=1!164.3095=h166bdaf_2
- x265=3.5=h924138e_3
- xcb-util=0.4.0=h166bdaf_0
- xcb-util-image=0.4.0=h166bdaf_0
- xcb-util-keysyms=0.4.0=h166bdaf_0
- xcb-util-renderutil=0.3.9=h166bdaf_0
- xcb-util-wm=0.4.1=h166bdaf_0
- xkeyboard-config=2.38=h0b41bf4_0
- xorg-fixesproto=5.0=h7f98852_1002
- xorg-inputproto=2.3.2=h7f98852_1002
- xorg-kbproto=1.0.7=h7f98852_1002
- xorg-libice=1.0.10=h7f98852_0
- xorg-libsm=1.2.3=hd9c2040_1000
- xorg-libx11=1.8.4=h0b41bf4_0
- xorg-libxau=1.0.9=h7f98852_0
- xorg-libxdmcp=1.1.3=h7f98852_0
- xorg-libxext=1.3.4=h0b41bf4_2
- xorg-libxfixes=5.0.3=h7f98852_1004
- xorg-libxi=1.7.10=h7f98852_0
- xorg-libxrender=0.9.10=h7f98852_1003
- xorg-renderproto=0.11.1=h7f98852_1002
- xorg-xextproto=7.3.0=h0b41bf4_1003
- xorg-xproto=7.0.31=h7f98852_1007
- xz=5.2.6=h166bdaf_0
- yaml=0.2.5=h7f98852_2
- yarl=1.9.1=py39hd1e30aa_0
- zipp=3.15.0=pyhd8ed1ab_0
- zlib=1.2.13=h166bdaf_4
- zstd=1.5.2=h3eb15da_6
prefix: /.../.conda/envs/droidenv
这样就不会一直卡在solving environment了
继续安装
pip install evo --upgrade --no-binary evo
pip install gdown
编译扩展
python setup.py install
测试
下载模型droid.pth
找到 tools/download_sample_data.sh 脚本里的数据集，下载需要的数据集，解压后放在data里
运行 abandonedfactory 数据集下的测试，在服务器下运行，不可视化
python demo.py --imagedir=data/abandonedfactory --calib=calib/tartan.txt --stride=2 --disable_vis
想要保存重建的深度图，需要额外再加上 --reconstruction_path，运行
python demo.py --imagedir=data/abandonedfactory --calib=calib/tartan.txt --stride=2 --disable_vis --reconstruction_path ./result
这样结果就会存在reconstructions/result里面
