This repository is intended to substantiate the results reported in the paper. Additional features including visualization tools will be updated soon!
Install requirements
conda create -n gsicpslam python==3.9
conda activate gsicpslam
conda install pytorch==2.0.0 torchvision==0.15.0 torchaudio==2.0.0 pytorch-cuda=11.8 -c pytorch -c nvidia
pip install -r requirements.txt
Install submodules
conda activate gsicpslam
pip install submodules/diff-gaussian-rasterization
pip install submodules/simple-knn
cd submodules/fast_gicp
mkdir build
cd build
cmake ..
make
cd ..
python setup.py install --user
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Replica
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Download
bash download_replica.sh
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Configure
Please modify the directory structure to ours.
The original structure
Replica - room0 - results (contain rgbd images) - frame000000.jpg - depth000000.jpg ... - traj.txt ...
Our structure
Replica - room0 - images (contain rgb images) - frame000000.jpg ... - depth_images (contain depth images) - depth000000.jpg ... - traj.txt ...
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TUM-RGBD
- Download
bash download_tum.sh
- Download
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Limited to 30 FPS
# Replica bash replica.sh # TUM bash tum.sh
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Unlimited tracking speed
# Replica bash replica_unlimit.sh # TUM bash tum_unlimit.sh