https://github.com/rmurai0610/MASt3R-SLAM

https://hub.docker.com/layers/nvidia/cuda/12.4.1-devel-ubuntu22.04/images/sha256-5645fec64549cc35930eee9d85aafd2b0006c0c3f22632be5a1d85e2604e9749
nvidia/cuda:12.4.1-devel-ubuntu22.04 환경으로 진행

이것저것 진행하다 보니

bus error (core dumped)

발생, 찾아보니 도커 메모리 문제, 다시 docker run 해서 환경 설정

(mast3r-slam) root@2a26db8fdc6f:/home/MASt3R-SLAM# python main.py --dataset datasets/tum/rgbd_dataset_freiburg1_room/ --config config/calib.yaml

Traceback (most recent call last):

File "/home/MASt3R-SLAM/main.py", line 6, in <module>

import cv2

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/cv2/__init__.py", line 181, in <module>

bootstrap()

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/cv2/__init__.py", line 153, in bootstrap

native_module = importlib.import_module("cv2")

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/importlib/__init__.py", line 126, in import_module

return bootstrap.gcd_import(name[level:], package, level)

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

ImportError: libGL.so.1: cannot open shared object file: No such file or directory

에러 발생

https://github.com/rmurai0610/MASt3R-SLAM/issues/17 같은 에러를 이슈에서 발견

가이드에 적혀있는 것들 설치 진행 but 또 에러

(mast3r-slam) root@2a26db8fdc6f:/home/MASt3R-SLAM# python main.py --dataset datasets/tum/rgbd_dataset_freiburg1_room/ --config config/calib.yaml

Traceback (most recent call last):

File "/home/MASt3R-SLAM/main.py", line 6, in <module>

import cv2

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/cv2/__init__.py", line 181, in <module>

bootstrap()

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/cv2/__init__.py", line 153, in bootstrap

native_module = importlib.import_module("cv2")

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/importlib/__init__.py", line 126, in import_module

return bootstrap.gcd_import(name[level:], package, level)

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

ImportError: libgthread-2.0.so.0: cannot open shared object file: No such file or directory

https://shuka.tistory.com/entry/OpenCV-libgthread-20so0-cannot-open-shared-object-file-%ED%95%B4%EA%B2%B0

계속 버그 발생

(mast3r-slam) root@2a26db8fdc6f:/home/MASt3R-SLAM# python main.py --dataset datasets/tum/rgbd_dataset_freiburg1_room/ --config config/calib.yaml

Traceback (most recent call last):

File "/home/MASt3R-SLAM/main.py", line 14, in <module>

from mast3r_slam.dataloader import Intrinsics, load_dataset

File "/home/MASt3R-SLAM/mast3r_slam/dataloader.py", line 7, in <module>

import pyrealsense2 as rs

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/pyrealsense2/__init__.py", line 2, in <module>

from .pyrealsense2 import *

ImportError: libusb-1.0.so.0: cannot open shared object file: No such file or directory

https://stackoverflow.com/questions/60648478/oserror-libusb-1-0-so-cannot-open-shared-object-file-no-such-file-or-director

/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/glfw/__init__.py:917: GLFWError: (65550) b'X11: The DISPLAY environment variable is missing'

warnings.warn(message, GLFWError)

Process Process-2:

Traceback (most recent call last):

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap

self.run()

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/multiprocessing/process.py", line 108, in run

self._target(*self._args, **self._kwargs)

File "/home/MASt3R-SLAM/mast3r_slam/visualization.py", line 390, in run_visualization

window = window_cls(

^^^^^^^^^^^

File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/site-packages/moderngl_window/context/glfw/window.py", line 31, in init

raise ValueError("Failed to initialize glfw")

ValueError: Failed to initialize glfw

도커 환경이라 시각화는 실패했지만 아무튼

다른 프로그램을 이용해 결과물 확인

회사 회의실 영상 촬영 후 테스트 진행(s22핸드폰으로 촬영)

뭔가 뭔가임
https://drive.google.com/file/d/1IF1_h_r0LOvEbCDFxlr3g3K1cje67chJ/view?usp=sharing

ply파일

  File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap

    self.run()

  File "/root/anaconda3/envs/mast3r-slam/lib/python3.11/multiprocessing/process.py", line 108, in run

    self._target(*self._args, **self._kwargs)

  File "/home/MASt3R-SLAM/main.py", line 138, in run_backend

    factor_graph.solve_GN_rays()

  File "/home/MASt3R-SLAM/mast3r_slam/global_opt.py", line 130, in solve_GN_rays

    ii, jj, idx_ii2jj, valid_match, Q_ii2jj = self.prep_two_way_edges()

                                              ^^^^^^^^^^^^^^^^^^^^^^^^^

  File "/home/MASt3R-SLAM/mast3r_slam/global_opt.py", line 107, in prep_two_way_edges

    idx_ii2jj = torch.cat((self.idx_ii2jj, self.idx_jj2ii), dim=0)

                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 698.00 MiB. GPU 0 has a total capacity of 11.59 GiB of which 693.00 MiB is free. Process 40917 has 6.46 GiB memory in use. Process 41093 has 3.71 GiB memory in use. Of the allocated memory 1.64 GiB is allocated by PyTorch, and 1.85 GiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)

FPS: 8.937122392255032

근데 중간에 CUDA out of memory 남;;;

https://github.com/rmurai0610/MASt3R-SLAM/issues/64
4070 super, 12GB인데, 추후 더 좋은 데탑으로 테스트 진행해야 할 듯

(mast3r-slam) root@2a26db8fdc6f:/home/MASt3R-SLAM/logs# nvidia-smi

Thu Mar 27 02:28:05 2025

+-----------------------------------------------------------------------------------------+

| NVIDIA-SMI 560.35.03              Driver Version: 560.35.03      CUDA Version: 12.6     |

|-----------------------------------------+------------------------+----------------------+

| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |

| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |

|                                         |                        |               MIG M. |

|=========================================+========================+======================|

|   0  NVIDIA GeForce RTX 4070 ...    Off |   00000000:01:00.0  On |                  N/A |

|  0%   39C    P8             10W /  220W |    1339MiB /  12282MiB |      7%      Default |

|                                         |                        |                  N/A |

+-----------------------------------------+------------------------+----------------------+

+-----------------------------------------------------------------------------------------+

| Processes:                                                                              |

|  GPU   GI   CI        PID   Type   Process name                              GPU Memory |

|        ID   ID                                                               Usage      |

|=========================================================================================|

+-----------------------------------------------------------------------------------------+

TODO: a6000에서 vram 빵빵하게 해서 돌리기

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