前言

本项目参考YouTube中博主（Spectacular AI）
详细可了解：SpectacularAI官网

本文项目构建在Windows与Ubuntu中，二者在项目构建中并未有实质性的差距，可相互参考环境与参数的配置，本文即在Windows11（已配置好CUDA）中进行。
Windows下配置CUDA的方法可参考：《TensorFlow-GPU-2.4.1与CUDA安装教程》

项目简介

Spectacular AI SDK融合来自相机和IMU传感器(加速度计和陀螺仪)的数据，并输出设备的精确6自由度姿态。这被称为视觉惯性SLAM (VISLAM)，它可以用于跟踪(自主)机器人和车辆，以及增强、混合和虚拟现实。SDK还包括一个映射API，可用于访问实时和离线3D重建用例的完整SLAM地图。

创建数据集

本文使用IPhone15 Pro Max的激光雷达创建场景数据集；
官方SDK提供其他扫描场景的途径：
1.iPhone (with or without LiDAR)
2.Android (with or without ToF雷达组) （如SamsungNote/S系列）
3.OAK-D相机
4.Intel RealSense D455/D435i
5.微软Azure Kinect DK

扫描

开始拍摄，结束后将扫描完成的视频导入到电脑中（注意：文件可能较大）

处理数据集

解压录制的数据集文件，如图所示：保存数据集解压路径

解析数据集

下载SDK：https://github.com/SpectacularAI/sdk-examples.git

Python环境下建图只有两个文件：
replay_to_instant_ngp.py

import argparse
import spectacularAI
import cv2
import json
import os
import shutil
import math
import numpy as npparser = argparse.ArgumentParser()
parser.add_argument("input", help="Path to folder with session to process")
parser.add_argument("output", help="Path to output folder")
parser.add_argument("--scale", help="Scene scale, exponent of 2", type=int, default=128)
parser.add_argument("--preview", help="Show latest primary image as a preview", action="store_true")
args = parser.parse_args()# Globals
savedKeyFrames = {}
frameWidth = -1
frameHeight = -1
intrinsics = NoneTRANSFORM_CAM = np.array([[1,0,0,0],[0,-1,0,0],[0,0,-1,0],[0,0,0,1],
])TRANSFORM_WORLD = np.array([[0,1,0,0],[-1,0,0,0],[0,0,1,0],[0,0,0,1],
])def closestPointBetweenTwoLines(oa, da, ob, db):normal = np.cross(da, db)denom = np.linalg.norm(normal)**2t = ob - oata = np.linalg.det([t, db, normal]) / (denom + 1e-10)tb = np.linalg.det([t, da, normal]) / (denom + 1e-10)if ta > 0: ta = 0if tb > 0: tb = 0return ((oa + ta * da + ob + tb * db) * 0.5, denom)def resizeToUnitCube(frames):weight = 0.0centerPos = np.array([0.0, 0.0, 0.0])for f in frames:mf = f["transform_matrix"][0:3,:]for g in frames:mg = g["transform_matrix"][0:3,:]p, w = closestPointBetweenTwoLines(mf[:,3], mf[:,2], mg[:,3], mg[:,2])if w > 0.00001:centerPos += p * wweight += wif weight > 0.0: centerPos /= weightscale = 0.for f in frames:f["transform_matrix"][0:3,3] -= centerPosscale += np.linalg.norm(f["transform_matrix"][0:3,3])scale = 4.0 / (scale / len(frames))for f in frames: f["transform_matrix"][0:3,3] *= scaledef sharpness(path):img = cv2.imread(path)img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)return cv2.Laplacian(img, cv2.CV_64F).var()def onMappingOutput(output):global savedKeyFramesglobal frameWidthglobal frameHeightglobal intrinsicsif not output.finalMap:# New frames, let's save the images to diskfor frameId in output.updatedKeyFrames:keyFrame = output.map.keyFrames.get(frameId)if not keyFrame or savedKeyFrames.get(keyFrame):continuesavedKeyFrames[keyFrame] = TrueframeSet = keyFrame.frameSetif not frameSet.rgbFrame or not frameSet.rgbFrame.image:continueif frameWidth < 0:frameWidth = frameSet.rgbFrame.image.getWidth()frameHeight = frameSet.rgbFrame.image.getHeight()undistortedFrame = frameSet.getUndistortedFrame(frameSet.rgbFrame)if intrinsics is None: intrinsics = undistortedFrame.cameraPose.camera.getIntrinsicMatrix()img = undistortedFrame.image.toArray()bgrImage = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)fileName = args.output + "/tmp/frame_" + f'{frameId:05}' + ".png"cv2.imwrite(fileName, bgrImage)if args.preview:cv2.imshow("Frame", bgrImage)cv2.setWindowTitle("Frame", "Frame #{}".format(frameId))cv2.waitKey(1)else:# Final optimized posesframes = []index = 0up = np.zeros(3)for frameId in output.map.keyFrames:keyFrame = output.map.keyFrames.get(frameId)oldImgName = args.output + "/tmp/frame_" + f'{frameId:05}' + ".png"newImgName = args.output + "/images/frame_" + f'{index:05}' + ".png"os.rename(oldImgName, newImgName)cameraPose = keyFrame.frameSet.rgbFrame.cameraPose# Converts Spectacular AI camera to coordinate system used by instant-ngpcameraToWorld = np.matmul(TRANSFORM_WORLD, np.matmul(cameraPose.getCameraToWorldMatrix(), TRANSFORM_CAM))up += cameraToWorld[0:3,1]frame = {"file_path": "images/frame_" + f'{index:05}' + ".png","sharpness": sharpness(newImgName),"transform_matrix": cameraToWorld}frames.append(frame)index += 1resizeToUnitCube(frames)for f in frames: f["transform_matrix"] = f["transform_matrix"].tolist()if frameWidth < 0 or frameHeight < 0: raise Exception("Unable get image dimensions, zero images received?")fl_x = intrinsics[0][0]fl_y = intrinsics[1][1]cx = intrinsics[0][2]cy = intrinsics[1][2]angle_x = math.atan(frameWidth / (fl_x * 2)) * 2angle_y = math.atan(frameHeight / (fl_y * 2)) * 2transformationsJson = {"camera_angle_x": angle_x,"camera_angle_y": angle_y,"fl_x": fl_x,"fl_y": fl_y,"k1": 0.0,"k2": 0.0,"p1": 0.0,"p2": 0.0,"cx": cx,"cy": cy,"w": frameWidth,"h": frameHeight,"aabb_scale": args.scale,"frames": frames}with open(args.output + "/transformations.json", "w") as outFile:json.dump(transformationsJson, outFile, indent=2)def main():os.makedirs(args.output + "/images", exist_ok=True)os.makedirs(args.output + "/tmp", exist_ok=True)print("Processing")replay = spectacularAI.Replay(args.input, mapperCallback = onMappingOutput, configuration = {"globalBABeforeSave": True,              # Refine final map poses using bundle adjustment"maxMapSize": 0,                         # Unlimited map size"keyframeDecisionDistanceThreshold": 0.1 # Minimum distance between keyframes})replay.runReplay()shutil.rmtree(args.output + "/tmp")print("Done!")print("")print("You can now run instant-ngp nerfs using following command:")print("")print("    ./build/testbed --mode nerf --scene {}/transformations.json".format(args.output))if __name__ == '__main__':main()

replay_to_nerf.py

#!/usr/bin/env python
"""
Post-process data in Spectacular AI format and convert it to input
for NeRF or Gaussian Splatting methods.
"""DEPRECATION_NOTE = """
Note: the replay_to_nerf.py script has been replaced by the sai-cli
tool in Spectacular AI Python package v1.25. Prefersai-cli process [args]as a drop-in replacement ofpython replay_to_nerf.py [args]
.
"""# The code is still available and usable as a stand-alone script, see:
# https://github.com/SpectacularAI/sdk/blob/main/python/cli/process/process.pyimport_success = False
try:from spectacularAI.cli.process.process import process, define_argsimport_success = True
except ImportError as e:print(e)if not import_success:msg = """Unable to import new Spectacular AI CLI, please update to SDK version >= 1.25""""raise RuntimeError(msg)if __name__ == '__main__':import argparseparser = argparse.ArgumentParser(description=__doc__,epilog=DEPRECATION_NOTE,formatter_class=argparse.RawDescriptionHelpFormatter)define_args(parser)print(DEPRECATION_NOTE)process(parser.parse_args())

Python环境

Babel	2.14.0	
ConfigArgParse	1.7	
GitPython	3.1.40	
Jinja2	3.1.2	
Markdown	3.4.1	
MarkupSafe	2.1.2	
PyAudio	0.2.13	
PyOpenGL	3.1.7	
PySocks	1.7.1	
PyWavelets	1.4.1	
Rtree	1.1.0	
Send2Trash	1.8.2	
Shapely	1.8.5.post1	
absl-py	1.4.0	
accelerate	0.16.0	
addict	2.4.0	
ansi2html	1.9.1	
anyio	4.2.0	
appdirs	1.4.4	
argon2-cffi	23.1.0	
argon2-cffi-bindings	21.2.0	
arrow	1.3.0	
asttokens	2.4.1	
async-lru	2.0.4	
attrs	23.2.0	
av	11.0.0	
beautifulsoup4	4.11.2	
bidict	0.22.1	
bleach	6.1.0	
blinker	1.7.0	
boltons	23.1.1	
cachetools	5.3.0	
certifi	2022.12.7	
cffi	1.16.0	
chardet	5.2.0	
charset-normalizer	3.0.1	
clean-fid	0.1.35	
click	8.1.7	
clip	1.0	
clip-anytorch	2.5.0	
colorama	0.4.6	
colorlog	6.8.0	
comet-ml	3.35.5	
comm	0.2.1	
configobj	5.0.8	
contourpy	1.2.0	
cryptography	41.0.7	
cycler	0.12.1	
dash	2.14.2	
dash-core-components	2.0.0	
dash-html-components	2.0.0	
dash-table	5.0.0	
debugpy	1.8.0	
decorator	5.1.1	
defusedxml	0.7.1	
depthai	2.24.0.0	
descartes	1.1.0	
docker-pycreds	0.4.0	
docstring-parser	0.15	
dulwich	0.21.7	
einops	0.6.0	
embreex	2.17.7.post4	
everett	3.1.0	
exceptiongroup	1.2.0	
executing	2.0.1	
fastjsonschema	2.19.1	
ffmpeg	1.4	
filelock	3.9.0	
fire	0.5.0	
flask	3.0.0	
fonttools	4.47.0	
fqdn	1.5.1	
ftfy	6.1.1	
future	0.18.3	
gdown	4.7.1	
gitdb	4.0.11	
google-auth	2.16.1	
google-auth-oauthlib	1.2.0	
grpcio	1.51.3	
gsplat	0.1.0	
h11	0.14.0	
h5py	3.10.0	
httpcore	1.0.2	
httpx	0.26.0	
idna	3.4	
imageio	2.25.1	
importlib-metadata	7.0.1	
ipykernel	6.28.0	
ipython	8.19.0	
ipywidgets	8.1.1	
isoduration	20.11.0	
itsdangerous	2.1.2	
jaxtyping	0.2.25	
jedi	0.19.1	
joblib	1.3.2	
json5	0.9.14	
jsonmerge	1.9.0	
jsonpointer	2.4	
jsonschema	4.20.0	
jsonschema-specifications	2023.12.1	
jupyter-client	8.6.0	
jupyter-core	5.7.0	
jupyter-events	0.9.0	
jupyter-lsp	2.2.1	
jupyter-server	2.12.2	
jupyter-server-terminals	0.5.1	
jupyterlab	4.0.10	
jupyterlab-pygments	0.3.0	
jupyterlab-server	2.25.2	
jupyterlab-widgets	3.0.9	
k-diffusion	0.0.14	
kiwisolver	1.4.5	
kornia	0.6.10	
lazy-loader	0.1	
lightning-utilities	0.10.0	
lmdb	1.4.0	
lpips	0.1.4	
lxml	5.0.0	
mapbox-earcut	1.0.1	
markdown-it-py	3.0.0	
matplotlib	3.5.3	
matplotlib-inline	0.1.6	
mdurl	0.1.2	
mediapy	1.2.0	
mistune	3.0.2	
mpmath	1.3.0	
msgpack	1.0.7	
msgpack-numpy	0.4.8	
msvc-runtime	14.34.31931	
nbclient	0.9.0	
nbconvert	7.14.0	
nbformat	5.9.2	
nerfacc	0.5.2	
nerfstudio	0.3.4	
nest-asyncio	1.5.8	
networkx	3.0	
ninja	1.11.1.1	
nodeenv	1.8.0	
notebook-shim	0.2.3	
numpy	1.24.2	
nuscenes-devkit	1.1.11	
oauthlib	3.2.2	
open3d	0.18.0	
opencv-python	4.6.0.66	
overrides	7.4.0	
packaging	23.0	
pandas	2.1.4	
pandocfilters	1.5.0	
parso	0.8.3	
pathtools	0.1.2	
pillow	9.4.0	
pip	23.3.2	
platformdirs	4.1.0	
plotly	5.18.0	
prometheus-client	0.19.0	
prompt-toolkit	3.0.43	
protobuf	3.20.3	
psutil	5.9.7	
pure-eval	0.2.2	
pyarrow	14.0.2	
pyasn1	0.4.8	
pyasn1-modules	0.2.8	
pycocotools	2.0.7	
pycollada	0.7.2	
pycparser	2.21	
pygame	2.5.2	
pygments	2.17.2	
pyliblzfse	0.4.1	
pymeshlab	2023.12	
pyngrok	7.0.5	
pyparsing	3.1.1	
pyquaternion	0.9.9	
python-box	6.1.0	
python-dateutil	2.8.2	
python-engineio	4.8.1	
python-json-logger	2.0.7	
python-socketio	5.10.0	
pytorch-msssim	1.0.0	
pytz	2023.3.post1	
pywin32	306	
pywinpty	2.0.12	
pyyaml	6.0	
pyzmq	25.1.2	
rawpy	0.19.0	
referencing	0.32.0	
regex	2022.10.31	
requests	2.31.0	
requests-oauthlib	1.3.1	
requests-toolbelt	1.0.0	
resize-right	0.0.2	
retrying	1.3.4	
rfc3339-validator	0.1.4	
rfc3986-validator	0.1.1	
rich	13.7.0	
rpds-py	0.16.2	
rsa	4.9	
scikit-image	0.20.0rc8	
scikit-learn	1.3.2	
scipy	1.10.1	
semantic-version	2.10.0	
sentry-sdk	1.39.1	
setproctitle	1.3.2	
setuptools	69.0.3	
shtab	1.6.5	
simple-websocket	1.0.0	
simplejson	3.19.2	
six	1.16.0	
smmap	5.0.1	
sniffio	1.3.0	
soupsieve	2.4	
spectacularAI	1.26.2	
splines	0.3.0	
stack-data	0.6.3	
svg.path	6.3	
sympy	1.12	
tb-nightly	2.13.0a20230221	
tenacity	8.2.3	
tensorboard	2.15.1	
tensorboard-data-server	0.7.0	
tensorboard-plugin-wit	1.8.1	
termcolor	2.4.0	
terminado	0.18.0	
threadpoolctl	3.2.0	
tifffile	2023.2.3	
timm	0.6.7	
tinycss2	1.2.1	
tomli	2.0.1	
torch	1.13.1+cu116	
torch-fidelity	0.3.0	
torchdiffeq	0.2.3	
torchmetrics	1.2.1	
torchsde	0.2.5	
torchvision	0.14.1+cu116	
tornado	6.4	
tqdm	4.64.1	
traitlets	5.14.1	
trampoline	0.1.2	
trimesh	4.0.8	
typeguard	2.13.3	
types-python-dateutil	2.8.19.14	
typing-extensions	4.5.0	
tyro	0.6.3	
tzdata	2023.4	
uri-template	1.3.0	
urllib3	1.26.14	
viser	0.1.17	
wandb	0.13.10	
wcwidth	0.2.6	
webcolors	1.13	
webencodings	0.5.1	
websocket-client	1.3.3	
websockets	12.0	
werkzeug	3.0.1	
wheel	0.38.4	
widgetsnbextension	4.0.9	
wrapt	1.16.0	
wsproto	1.2.0	

Windows ffmpeg 环境搭建

项目必须FFmpeg

这里我在项目Python中直接pip安装：

pip  install ffmpeg 

这个网上教程很多，这里就不细讲了

数据集处理

这里以iPhone拍摄的数据集为例子：
将上文中提到的解压后的数据集进行编译处理，并将数据集的路径改为自己的数据集路径

python replay_to_nerf.py E:\SpectacleMapping\sdk-examples-main\python\mapping\recording_2024-01-05_12-24-00 E:\SpectacleMapping\sdk-examples-main\python\mapping\room --preview3d

安装Nerfstudio

需要CUDA环境

Nerfstudio 官网：https://docs.nerf.studio/quickstart/installation.html

依次安装依赖

pip install nerfstudio

pip install nerfstudio

git clone https://github.com/nerfstudio-project/nerfstudio.git
cd nerfstudio
pip install --upgrade pip setuptools
pip install -e .

Nerfstudio实现效果

注意，需要显卡的显存至少6GB以上，对显存要求极高！

开始训练

参数配置

ns-train nerfacto --data 数据集绝对地址 --vis viewer --max-num-iterations 50000

实时训练浏览

可以在浏览器中输入：https://viewer.nerf.studio/versions/23-05-15-1/?websocket_url=ws://localhost:7007