关于运行自己的数据集出问题

[why-freedom]

平台

• ubuntu20、 NVIDIA A6000

情况

使用自己的数据集，利用llff生成poses_bounds.npy

'''
jon@jon-amax:~/Documents/ForVSLAM/LLFF$ python3 imgs2poses.py --scenedir /home/jon/Documents/ForVSLAM/Deblur-NeRF/data/d435i/
Post-colmap
Cameras 5
Images # 136
Points (38546, 3) Visibility (38546, 136)
Depth stats 0.06706099206246206 163.93914317128616 17.18839939417317
Done with imgs2poses
'''

然后运行nerf:

'''
jon@jon-amax:~/Documents/ForVSLAM/Deblur-NeRF$ python3 run_nerf.py --config configs/demo_blurball.txt --num_gpu 1
Loaded image data (720, 1280, 3, 136) [ 720. 1280. 228.8815496]
Loaded /home/jon/Documents/ForVSLAM/Deblur-NeRF/data/d435i 0.6598865999459549 129.31827083877957
recentered (3, 5)
[[ 1.0000000e+00 1.8971052e-08 1.5343165e-08 -4.0671404e-07]
[-1.8971052e-08 1.0000000e+00 -8.3013401e-09 -1.7443124e-07]
[-1.5343165e-08 8.3013401e-09 1.0000000e+00 3.6814633e-08]]
Data:
(136, 3, 5) (136, 720, 1280, 3) (136, 2)
HOLDOUT view is 109
Loaded llff (136, 720, 1280, 3) (120, 3, 5) [ 720. 1280. 228.88155] /home/jon/Documents/ForVSLAM/Deblur-NeRF/data/d435i
LLFF holdout, 5
DEFINING BOUNDS
NEAR FAR 0.0 1.0
Found ckpts []
train on image sequence of len = 136, 1280x720
get rays
shuffle rays
done
Begin
TRAIN views are [ 1 2 3 4 6 7 8 9 11 12 13 14 16 17 18 19 21 22
23 24 26 27 28 29 31 32 33 34 36 37 38 39 41 42 43 44
46 47 48 49 51 52 53 54 56 57 58 59 61 62 63 64 66 67
68 69 71 72 73 74 76 77 78 79 81 82 83 84 86 87 88 89
91 92 93 94 96 97 98 99 101 102 103 104 106 107 108 109 111 112
113 114 116 117 118 119 121 122 123 124 126 127 128 129 131 132 133 134]
TEST views are [ 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85
90 95 100 105 110 115 120 125 130 135]
VAL views are [ 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85
90 95 100 105 110 115 120 125 130 135]
! [Numerical Error] rgb_map contains nan.
! [Numerical Error] depth_map contains nan.
! [Numerical Error] acc_map contains nan.
! [Numerical Error] density_map contains nan.
! [Numerical Error] raw contains nan.
! [Numerical Error] rgb_map contains nan.
! [Numerical Error] depth_map contains nan.
! [Numerical Error] acc_map contains nan.
! [Numerical Error] density_map contains nan.
! [Numerical Error] raw contains nan.
! [Numerical Error] rgb_map contains nan.
! [Numerical Error] depth_map contains nan.
! [Numerical Error] acc_map contains nan.
'''

报错如上，暂时原因未知：

'''
! [Numerical Error] rgb_map contains nan.
! [Numerical Error] depth_map contains nan.
! [Numerical Error] acc_map contains nan.
! [Numerical Error] density_map contains nan.
! [Numerical Error] raw contains nan.
! [Numerical Error] rgb_map contains nan.
! [Numerical Error] depth_map contains nan.
! [Numerical Error] acc_map contains nan.
! [Numerical Error] density_map contains nan.
! [Numerical Error] raw contains nan.
! [Numerical Error] rgb_map contains nan.
! [Numerical Error] depth_map contains nan.
! [Numerical Error] acc_map contains nan.
'''

[limacv]

这个我记得应该对最终结果不影响吧，渲染的时候在某些pixel上计算depth值确实有时会出现nan的情况