{"id":1097,"date":"2024-06-25T10:06:34","date_gmt":"2024-06-25T01:06:34","guid":{"rendered":"https:\/\/elosove.com\/?p=1097"},"modified":"2024-06-25T10:06:34","modified_gmt":"2024-06-25T01:06:34","slug":"droid-slam%e3%81%ae%e3%82%a4%e3%83%b3%e3%82%b9%e3%83%88%e3%83%bc%e3%83%ab%e3%81%8c%e5%a4%b1%e6%95%97%e3%81%97%e3%81%9f%e8%a9%b1","status":"publish","type":"post","link":"https:\/\/elosove.com\/?p=1097","title":{"rendered":"DROID-SLAM\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u5931\u6557\u3057\u305f\u8a71"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u524d\u56de<a href=\"https:\/\/elosove.com\/?p=1077\">ORB-SLAM3\u306e\u30d3\u30eb\u30c9<\/a>\u306b\u6210\u529f\u3057\u305f\u4e8b\u306b\u6c17\u3092\u3088\u304f\u3057\u305f\u306e\u3067DROID-SLAM\u306b\u3082\u6311\u6226\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u632b\u6298\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u539f\u56e0\u306f\u516c\u5f0f\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u6307\u5b9a\u3092\u7121\u8996\u3057\u3066\u69cb\u7bc9\u3057\u305fcuda\u5468\u308a\u304b\u306a\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Windows\u3068WSL\u4e0b\u306eUbuntu\u3069\u3061\u3089\u3067\u3082\u8a66\u3057\u3066\u307f\u307e\u3057\u305f\u304c\u30c0\u30e1\u3067\u3057\u305f\u304c\u3001\u30ea\u30d5\u30a1\u30ec\u30f3\u30b9\u7528\u306b\u8a18\u4e8b\u3092\u6b8b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_71 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/elosove.com\/?p=1097\/#%E7%92%B0%E5%A2%83\" title=\"\u74b0\u5883\">\u74b0\u5883<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/elosove.com\/?p=1097\/#Ubuntu2204WSL2%E3%81%ABCUDA118cudatoolkit%E3%82%92%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB%E3%81%99%E3%82%8B\" title=\"Ubuntu22.04[WSL2]\u306bCUDA11.8,cudatoolkit\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\">Ubuntu22.04[WSL2]\u306bCUDA11.8,cudatoolkit\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/elosove.com\/?p=1097\/#Getting_Started\" title=\"Getting Started\">Getting Started<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/elosove.com\/?p=1097\/#%E3%83%87%E3%83%A2%E3%81%AE%E6%BA%96%E5%82%99\" title=\"\u30c7\u30e2\u306e\u6e96\u5099\">\u30c7\u30e2\u306e\u6e96\u5099<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/elosove.com\/?p=1097\/#%E3%82%A8%E3%83%A9%E3%83%BC%E5%87%A6%E7%90%86\" title=\"\u30a8\u30e9\u30fc\u51e6\u7406\">\u30a8\u30e9\u30fc\u51e6\u7406<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/elosove.com\/?p=1097\/#setuppy%E3%81%A7%E5%A4%96%E9%83%A8%E3%82%B7%E3%83%B3%E3%83%9C%E3%83%AB%E3%81%8C%E6%9C%AA%E8%A7%A3%E6%B1%BA%E3%81%A7%E3%83%93%E3%83%AB%E3%83%89%E5%A4%B1%E6%95%97Win%E3%81%AE%E3%81%BF\" title=\"setup.py\u3067\u5916\u90e8\u30b7\u30f3\u30dc\u30eb\u304c\u672a\u89e3\u6c7a\u3067\u30d3\u30eb\u30c9\u5931\u6557[Win\u306e\u307f]\">setup.py\u3067\u5916\u90e8\u30b7\u30f3\u30dc\u30eb\u304c\u672a\u89e3\u6c7a\u3067\u30d3\u30eb\u30c9\u5931\u6557[Win\u306e\u307f]<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/elosove.com\/?p=1097\/#torch%E3%81%AEUserWarning%E3%81%8C%E5%87%BA%E3%82%8B\" title=\"torch\u306eUserWarning\u304c\u51fa\u308b\">torch\u306eUserWarning\u304c\u51fa\u308b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/elosove.com\/?p=1097\/#torchas_tensor%E3%81%AE%E6%88%BB%E3%82%8A%E5%80%A4%E3%81%8C%E7%84%A1%E3%81%84\" title=\"torch.as_tensor\u306e\u623b\u308a\u5024\u304c\u7121\u3044\">torch.as_tensor\u306e\u623b\u308a\u5024\u304c\u7121\u3044<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%92%B0%E5%A2%83\"><\/span>\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">OS Windows 11 | Ubuntu 22.04[WSL2]<br>CUDA 11.8 [\u30c7\u30d5\u30a9\u30eb\u30c8 11.3]<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u8a18\u306fpython\u74b0\u5883\u3067\u3059\u3002<br>python\u30d0\u30fc\u30b8\u30e7\u30f3\u306f3.10.12\u3067\u3059\u304c\u3001git issue\u3092\u898b\u308b\u30683.8\u7cfb\u3067\u52d5\u304b\u3057\u3066\u3044\u308b\u4eba\u304c\u591a\u3044\u5370\u8c61\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">cudatoolkit 11.8 [\u30c7\u30d5\u30a9\u30eb\u30c8 1.13]<br>pytorch 2.3.1 [\u30c7\u30d5\u30a9\u30eb\u30c8 1.10]<br>pytorch-scatter 2.1.2 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>open3d 0.18.0 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>tensorboard 2.17.0 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>suitesparse 8.2.1 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>pyyaml 5.4.1 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>scipy 1.13.1 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>OpenCV 4.10.0 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>tqdm 4.66.4 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>matplotlib 3.9.0 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>evo 1.29.0 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<br>gdown 5.2.0 [\u30c7\u30d5\u30a9\u30eb\u30c8 \u6307\u5b9a\u306a\u3057]<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Ubuntu2204WSL2%E3%81%ABCUDA118cudatoolkit%E3%82%92%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB%E3%81%99%E3%82%8B\"><\/span>Ubuntu22.04[WSL2]\u306bCUDA11.8,cudatoolkit\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Windows\u306e\u5834\u5408\u306f\u98db\u3070\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u516c\u5f0f\u306e<a href=\"https:\/\/developer.nvidia.com\/cuda-11-8-0-download-archive?target_os=Linux&amp;target_arch=x86_64&amp;Distribution=WSL-Ubuntu&amp;target_version=2.0&amp;target_type=deb_local\">CUDA Toolkit 11.8 Downloads<\/a>\u30b5\u30a4\u30c8\u304b\u3089\u74b0\u5883\u3092\u9078\u629e\u3057\u3066Base Installer\u901a\u308a\u5b9f\u65bd\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u79c1\u306e\u5834\u5408\u306f\u4e0b\u8a18\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"wget https:\/\/developer.download.nvidia.com\/compute\/cuda\/repos\/wsl-ubuntu\/x86_64\/cuda-wsl-ubuntu.pin\nsudo mv cuda-wsl-ubuntu.pin \/etc\/apt\/preferences.d\/cuda-repository-pin-600\nwget https:\/\/developer.download.nvidia.com\/compute\/cuda\/11.8.0\/local_installers\/cuda-repo-wsl-ubuntu-11-8-local_11.8.0-1_amd64.deb\nsudo dpkg -i cuda-repo-wsl-ubuntu-11-8-local_11.8.0-1_amd64.deb\nsudo cp \/var\/cuda-repo-wsl-ubuntu-11-8-local\/cuda-*-keyring.gpg \/usr\/share\/keyrings\/\nsudo apt-get update\nsudo apt-get -y install cuda-11-8\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">wget<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/developer.download.nvidia.com\/compute\/cuda\/repos\/wsl-ubuntu\/x86_64\/cuda-wsl-ubuntu.pin<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">mv<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cuda-wsl-ubuntu.pin<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">\/etc\/apt\/preferences.d\/cuda-repository-pin-600<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">wget<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/developer.download.nvidia.com\/compute\/cuda\/11.8.0\/local_installers\/cuda-repo-wsl-ubuntu-11-8-local_11.8.0-1_amd64.deb<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">dpkg<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-i<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cuda-repo-wsl-ubuntu-11-8-local_11.8.0-1_amd64.deb<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cp<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">\/var\/cuda-repo-wsl-ubuntu-11-8-local\/cuda-<\/span><span style=\"color: #569CD6\">*<\/span><span style=\"color: #CE9178\">-keyring.gpg<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">\/usr\/share\/keyrings\/<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">apt-get<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">update<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">apt-get<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-y<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cuda-11-8<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u305d\u306e\u4ed6\u30e1\u30e2<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"# \u30ea\u30f3\u30af\u306e\u78ba\u8a8d\nupdate-alternatives --display cuda\n# \u30d1\u30b9\u901a\u3057\nexport PATH=\/usr\/local\/cuda\/bin:${PATH}\nexport LD_LIBRARY_PATH=\/usr\/local\/cuda\/lib64:${LD_LIBRARY_PATH}\nsource ~.\/bashrc\n# \u30d0\u30fc\u30b8\u30e7\u30f3\u3068\u30d1\u30b9\u78ba\u8a8d\nnvcc -V\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\"># \u30ea\u30f3\u30af\u306e\u78ba\u8a8d<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">update-alternatives<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--display<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cuda<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># \u30d1\u30b9\u901a\u3057<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">export<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #9CDCFE\">PATH<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #CE9178\">\/usr\/local\/cuda\/bin:<\/span><span style=\"color: #D4D4D4\">${<\/span><span style=\"color: #9CDCFE\">PATH<\/span><span style=\"color: #D4D4D4\">}<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">export<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #9CDCFE\">LD_LIBRARY_PATH<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #CE9178\">\/usr\/local\/cuda\/lib64:<\/span><span style=\"color: #D4D4D4\">${<\/span><span style=\"color: #9CDCFE\">LD_LIBRARY_PATH<\/span><span style=\"color: #D4D4D4\">}<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">source<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">~.\/bashrc<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># \u30d0\u30fc\u30b8\u30e7\u30f3\u3068\u30d1\u30b9\u78ba\u8a8d<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">nvcc<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-V<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">torch\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5f8c\u306e\u30c1\u30a7\u30c3\u30af<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"import torch\ntorch.cuda.is_available()\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #C586C0\">import<\/span><span style=\"color: #D4D4D4\"> torch<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">torch.cuda.is_available()<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Getting_Started\"><\/span>Getting Started<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/github.com\/princeton-vl\/DROID-SLAM\/tree\/main\">README<\/a>\u306b\u5f93\u3063\u3066\u9032\u3081\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306eDL\u3002eigen\u3068lietorch\u3092\u5916\u90e8\u304b\u3089\u5f15\u3063\u5f35\u3063\u3066\u304f\u308b\u306e\u3067recursive\u30aa\u30d7\u30b7\u30e7\u30f3\u306f\u5fc5\u9808\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"git clone --recursive https:\/\/github.com\/princeton-vl\/DROID-SLAM.git\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">clone<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--recursive<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/github.com\/princeton-vl\/DROID-SLAM.git<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u516c\u5f0f\u3067\u306fenvironment.yaml\u3067\u4eee\u60f3\u74b0\u5883\u3092\u69cb\u7bc9\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u4eca\u56de\u306f\u9055\u3046\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u3084\u308a\u305f\u3044\u306e\u3067\u7121\u8996\u3057\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"# conda env create -f environment.yaml\u306e\u4ee3\u308f\u308a\u306b\u4e0b\u8a18\nconda create -n droidenv python=3.10\n# pytorch\u306eDL.\u4e0b\u8a18\u306f\u4f8b\u306a\u306e\u3067\u516c\u5f0f\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092\u751f\u6210\npip install torch torchvision torchaudio --index-url https:\/\/download.pytorch.org\/whl\/cu118\npip install torch-scatter open3d tensorboard suitesparse-graphblas PyYAML scipy opencv-python tqdm matplotlib\n# \u4e0b\u8a18\u306f\u516c\u5f0f\u901a\u308a\npip install evo --upgrade --no-binary evo\npip install gdown\npython setup.py install\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\"># conda env create -f environment.yaml\u306e\u4ee3\u308f\u308a\u306b\u4e0b\u8a18<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">conda<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">create<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-n<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">droidenv<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">python=<\/span><span style=\"color: #B5CEA8\">3.10<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># pytorch\u306eDL.\u4e0b\u8a18\u306f\u4f8b\u306a\u306e\u3067\u516c\u5f0f\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092\u751f\u6210<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">pip<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">torch<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">torchvision<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">torchaudio<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--index-url<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/download.pytorch.org\/whl\/cu118<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">pip<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">torch-scatter<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">open3d<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">tensorboard<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">suitesparse-graphblas<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">PyYAML<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">scipy<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">opencv-python<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">tqdm<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">matplotlib<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># \u4e0b\u8a18\u306f\u516c\u5f0f\u901a\u308a<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">pip<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">evo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--upgrade<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--no-binary<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">evo<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">pip<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">gdown<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">python<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">setup.py<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Windows\u306e\u5834\u5408\u306fsetup.py\u304c\u3053\u3051\u308b\u306e\u3067\u3001droid_kernels.cu\u5185\u306elong\u3092int64_t\u306b\u7f6e\u63db\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%87%E3%83%A2%E3%81%AE%E6%BA%96%E5%82%99\"><\/span>\u30c7\u30e2\u306e\u6e96\u5099<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u30e2\u30c7\u30eb\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9:\u00a0<a href=\"https:\/\/drive.google.com\/file\/d\/1PpqVt1H4maBa_GbPJp4NwxRsd9jk-elh\/view?usp=sharing\">droid.pth<\/a>\n<ul class=\"wp-block-list\">\n<li>demo.py\u3092\u5f15\u6570\u7121\u3057\u3067\u5b9f\u884c\u3059\u308b\u306887\u884c\u76ee\u3067\u6307\u5b9a\u3055\u308c\u308b\u306e\u3067\u3001project\u306eroot\u306b\u4fdd\u5b58\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u30b5\u30f3\u30d7\u30eb\u30c7\u30fc\u30bf\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3002\u4eca\u56de\u306f\u4e00\u3064\u3060\u3051\u624b\u52d5\u3067\u843d\u3068\u3057\u3066\u5b9f\u65bd\u3057\u307e\u3059\u3002\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/drive.google.com\/uc?id=1AlfhZnGmlsKWGcNHFB1i8i8Jzn4VHB15\">abandonedfactory\u30c7\u30fc\u30bf<\/a>\u3092DL<\/li>\n\n\n\n<li>\u89e3\u51cd\u3057\u305f\u30c7\u30fc\u30bf\u306fproject\u306eroot\/data\/abandonedfactory\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u4fdd\u5b58<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u5b9f\u884c\n<ul class=\"wp-block-list\">\n<li>python demo.py &#8211;imagedir=data\/abandonedfactory &#8211;calib=calib\/tartan.txt &#8211;stride=2<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%A8%E3%83%A9%E3%83%BC%E5%87%A6%E7%90%86\"><\/span>\u30a8\u30e9\u30fc\u51e6\u7406<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u79c1\u306e\u5834\u5408\u306fimage\u30a6\u30a3\u30f3\u30c9\u30a6\u3068Open3D\u306e\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u8868\u793a\u3055\u308c\u308b\u3082\u306e\u306e\u30ad\u30fc\u30d5\u30ec\u30fc\u30e0\u304c\u767b\u9332\u3055\u308c\u305aOpen3D\u306e\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u771f\u3063\u767d\u306e\u307e\u307e\u3067\u3057\u305f\u3002[Ubuntu\u3067\u306f\u521d\u671f\u4f4d\u7f6e\u306e\u30ab\u30e1\u30e9\u304c\uff11\u3064\u8868\u793a\u3055\u308c\u308b\u3060\u3051]<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"setuppy%E3%81%A7%E5%A4%96%E9%83%A8%E3%82%B7%E3%83%B3%E3%83%9C%E3%83%AB%E3%81%8C%E6%9C%AA%E8%A7%A3%E6%B1%BA%E3%81%A7%E3%83%93%E3%83%AB%E3%83%89%E5%A4%B1%E6%95%97Win%E3%81%AE%E3%81%BF\"><\/span>setup.py\u3067\u5916\u90e8\u30b7\u30f3\u30dc\u30eb\u304c\u672a\u89e3\u6c7a\u3067\u30d3\u30eb\u30c9\u5931\u6557[Win\u306e\u307f]<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">droid_kernels.obj\u306e\u30b3\u30f3\u30d1\u30a4\u30eb\u4e2d\u306b\u672a\u89e3\u6c7a\u306e\u5916\u90e8\u53c2\u7167\u304c\u884c\u308f\u308c\u30a8\u30e9\u30fc\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u304c\u5931\u6557\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u306fdroid_kernels.cu\u30d5\u30a1\u30a4\u30eb\u5185\u3067&#8221;long&#8221;\u578b\u304c\u4f7f\u308f\u308c\u3066\u3044\u308b\u70ba\u306a\u306e\u3067\u3001windows\u7528\u306b&#8221;int64_t&#8221;\u3068\u7f6e\u63db\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"torch%E3%81%AEUserWarning%E3%81%8C%E5%87%BA%E3%82%8B\"><\/span>torch\u306eUserWarning\u304c\u51fa\u308b<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u30a8\u30e9\u30fc\u306f\u4e0b\u8a18\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"\uff5edroidenv\\Lib\\site-packages\\torch\/functional.py:512: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at  ..\/aten\/src\/ATen\/native\/TensorShape.cpp:2157.)\nreturn _VF.meshgrid(tensors, **kwargs)  # type: ignore[attr-defined]\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">\uff5edroidenv\\Lib\\site-packages\\torch\/functional.py:512:<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">UserWarning:<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">torch.meshgrid:<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">in<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">an<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">upcoming<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">release,<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">it<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">will<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">be<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">required<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">to<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">pass<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">the<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">indexing<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">argument.<\/span><span style=\"color: #D4D4D4\"> (Triggered <\/span><span style=\"color: #CE9178\">internally<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">at<\/span><span style=\"color: #D4D4D4\">  <\/span><span style=\"color: #CE9178\">..\/aten\/src\/ATen\/native\/TensorShape.cpp:2157.<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">return<\/span><span style=\"color: #D4D4D4\"> _VF.meshgrid(<\/span><span style=\"color: #DCDCAA\">tensors,<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">**<\/span><span style=\"color: #CE9178\">kwargs<\/span><span style=\"color: #D4D4D4\">)  <\/span><span style=\"color: #6A9955\"># type: ignore[attr-defined]<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u89e3\u6c7a\u65b9\u6cd5\u306f<a href=\"https:\/\/stackoverflow.com\/questions\/70891128\/torch-meshgrid-warning-in-an-upcoming-release-it-will-be-required-to-pass-the\">stackoverflow\u304b\u3089\u306e\u5f15\u7528<\/a>\u3067functional.py\u306e512\u884c\u76ee\u3092\u4e0b\u8a18\u306b\u66f8\u304d\u63db\u3048\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"return _VF.meshgrid(tensors, **kwargs, indexing=&quot;ij&quot;)\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #C586C0\">return<\/span><span style=\"color: #D4D4D4\"> _VF.meshgrid(<\/span><span style=\"color: #DCDCAA\">tensors,<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">**<\/span><span style=\"color: #CE9178\">kwargs,<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">indexing=&quot;ij&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"torchas_tensor%E3%81%AE%E6%88%BB%E3%82%8A%E5%80%A4%E3%81%8C%E7%84%A1%E3%81%84\"><\/span>torch.as_tensor\u306e\u623b\u308a\u5024\u304c\u7121\u3044<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u8a18\u4e8b\u306e\u672c\u984c\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u8a18\u306e\u30a8\u30e9\u30fc\u304c\u89e3\u6c7a\u51fa\u6765\u305a\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306b\u5931\u6557\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/github.com\/princeton-vl\/DROID-SLAM\/issues\/115\">Error in inference &#8211; not enough values to unpack (expected 2, got 0)\u00a0<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3042\u308a\u304c\u3061\u306a\u539f\u56e0\u3068\u3057\u3066\u306f<a href=\"https:\/\/github.com\/princeton-vl\/DROID-SLAM\/issues\/13\">Errors in inference\u00a0#13<\/a>\u306b\u3042\u308b\u3088\u3046\u306b\u3001\u30c7\u30e2\u7528\u306e\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u30d1\u30b9\u9593\u9055\u3044\u3067\u3059\u304c\u3001\u79c1\u306e\u5834\u5408\u306fimage\u30a6\u30a3\u30f3\u30c9\u30a6\u306b\u306f\u3061\u3083\u3093\u3068\u753b\u50cf\u304c\u8868\u793a\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u30d1\u30b9\u9593\u9055\u3044\u3067\u306f\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30a8\u30e9\u30fc\u306e\u5f53\u8a72\u7b87\u6240\u306ffactor_graph.py\u306e374\u884c\u76ee\u3067\u3001\u5f15\u6570\u306e&#8221;es&#8221;\u306e\u5024\u306e\u305b\u3044\u304b\u3068\u601d\u308f\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">&#8220;es&#8221;\u306e\u5024\u306fdepth_video.py\u3067\u5b9a\u7fa9\u3055\u308c\u308bself.counter[video.counter]\u306b\u4f9d\u5b58\u3059\u308b\u306e\u3067\u3001droid_backend.py\u3084motion_filter.py\u8fba\u308a\u3067\u4f7f\u308f\u308c\u308b\u969b\u306b\u4e0a\u624b\u304f\u52d5\u3044\u3066\u3044\u306a\u3044\u3068\u63a8\u6e2c\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001issue\u306b\u306fcuda\u30d0\u30fc\u30b8\u30e7\u30f3\u306e\u305b\u3044\u306a\u306e\u304b\u3001motion_filter.py\u5185\u306e&#8221;self.MEAN&#8221;,&#8221;self.STDV&#8221;\u306e\u5024\u304c0\u306b\u306a\u308b\u30b1\u30fc\u30b9\u3082\u3042\u308b\u305d\u3046\u3067\u3059\u304c\u79c1\u306e\u74b0\u5883\u3067\u306f\u901a\u5e38\u52d5\u4f5c\u3057\u3066\u3044\u307e\u3057\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u56deORB-SLAM3\u306e\u30d3\u30eb\u30c9\u306b\u6210\u529f\u3057\u305f\u4e8b\u306b\u6c17\u3092\u3088\u304f\u3057\u305f\u306e\u3067DROID-SLAM\u306b\u3082\u6311\u6226\u3057\u307e\u3057\u305f\u3002 \u632b\u6298\u3057\u307e\u3057\u305f\u3002 \u539f\u56e0\u306f\u516c\u5f0f\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u6307\u5b9a\u3092\u7121\u8996\u3057\u3066\u69cb\u7bc9\u3057\u305fcuda\u5468\u308a\u304b\u306a\u3068\u601d\u3044\u307e\u3059\u3002 Windows\u3068WSL\u4e0b\u306eUb [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1110,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[16],"tags":[38],"class_list":["post-1097","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-diary","tag-slam"],"_links":{"self":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1097","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1097"}],"version-history":[{"count":12,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1097\/revisions"}],"predecessor-version":[{"id":1109,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1097\/revisions\/1109"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/media\/1110"}],"wp:attachment":[{"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1097"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1097"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1097"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}