代码部分 链接到标题

1. 程序 链接到标题

源码：https://github.com/muskie82/MonoGS

2. 问题 链接到标题

2.1 libtorch_cpu.so问题 链接到标题

  • 如果遇到错误 libtorch_cpu.so: undefined symbol: iJIT_NotifyEvent，尝试运行 pip install mkl==2024.0

2.2 opengl问题 链接到标题

  • 如果是在conda内运行可视化，可能会出现x11问题，本质也是opengl问题，同3dgs问题相同：
Traceback (most recent call last):
  File "slam.py", line 252, in <module>
    slam = SLAM(config, save_dir=save_dir)
  File "slam.py", line 110, in __init__
    self.frontend.run()
  File "/MonoGS/MonoGS/utils/slam_frontend.py", line 482, in run
    data = self.frontend_queue.get()
  File "/usr/lib/python3.8/multiprocessing/queues.py", line 116, in get
    return _ForkingPickler.loads(res)
  File "/usr/local/lib/python3.8/dist-packages/torch/multiprocessing/reductions.py", line 149, in rebuild_cuda_tensor
    storage = storage_cls._new_shared_cuda(
  File "/usr/local/lib/python3.8/dist-packages/torch/storage.py", line 1212, in _new_shared_cuda
    return torch.UntypedStorage._new_shared_cuda(*args, **kwargs)
RuntimeError: CUDA error: invalid resource handle
CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect.
For debugging consider passing CUDA_LAUNCH_BLOCKING=1
Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions.
                                                                                                                                                                                                                 Process Process-4:
Traceback (most recent call last):
  File "/usr/lib/python3.8/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/usr/lib/python3.8/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/MonoGS/MonoGS/gui/slam_gui.py", line 688, in run
    app.run()
  File "/MonoGS/MonoGS/gui/slam_gui.py", line 676, in update
    self.scene_update()
  File "/MonoGS/MonoGS/gui/slam_gui.py", line 662, in scene_update
    self.receive_data(self.q_main2vis)
  File "/MonoGS/MonoGS/gui/slam_gui.py", line 394, in receive_data
    gaussian_packet = get_latest_queue(q)
  File "/MonoGS/MonoGS/gui/gui_utils.py", line 148, in get_latest_queue
    message_latest = q.get_nowait()
  File "/usr/lib/python3.8/multiprocessing/queues.py", line 129, in get_nowait
    return self.get(False)
  File "/usr/lib/python3.8/multiprocessing/queues.py", line 116, in get
    return _ForkingPickler.loads(res)
  File "/usr/local/lib/python3.8/dist-packages/torch/multiprocessing/reductions.py", line 496, in rebuild_storage_fd
    fd = df.detach()
  File "/usr/lib/python3.8/multiprocessing/resource_sharer.py", line 57, in detach
    with _resource_sharer.get_connection(self._id) as conn:
  File "/usr/lib/python3.8/multiprocessing/resource_sharer.py", line 87, in get_connection
    c = Client(address, authkey=process.current_process().authkey)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 502, in Client
    c = SocketClient(address)
  File "/usr/lib/python3.8/multiprocessing/connection.py", line 630, in SocketClient
    s.connect(address)
FileNotFoundError: [Errno 2] No such file or directory
^CError in atexit._run_exitfuncs:
Traceback (most recent call last):
  File "/usr/lib/python3.8/multiprocessing/popen_fork.py", line 27, in poll
Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/usr/lib/python3.8/multiprocessing/spawn.py", line 116, in spawn_main
    pid, sts = os.waitpid(self.pid, flag)

3. 复现 链接到标题

3.1 DEMO复现 链接到标题

  • 渲染效果：
- 测试误差：
均值轨迹误差

3.2 本地复现 链接到标题

  • 设备
    • 设备型号：Intel realsense D435i
    • 相机类型：深度相机
    • 运行环境： (1) GPU：4060Ti (2) Docker：cuda-11.6 (3) conda：pytorch=1.12.1
  • 渲染效果：
均值轨迹误差

4. 代码解读 链接到标题

论文部分 链接到标题

todo

5. 前置内容 链接到标题

5.1 相机内参矩阵(K) 链接到标题

  • fx 和 fy：分别是相机在 x 和 y 方向上的焦距（单位通常是像素）。
  • cx 和 cy：分别是图像的主点坐标，通常是图像的中心点，表示相机坐标系的原点在图像中的位置。
  • 内参矩阵如下：
[ fx  0   cx ]
[  0  fy   cy ]
[  0   0    1 ]