This project was tested with the following dependencies
- Python 3.10
- CUDA 11.8
- PyTorch 2.0.1
- Clone the repository
git clone https://github.com/tobiasfshr/map4d.git
- Create a new conda environment
conda create --name map4d -y python=3.10
conda activate map4d
pip install --upgrade pip
- Install PyTorch, CUDA, tinycudann (fork by @hturki), Nerfstudio and this project
pip install torch==2.0.1+cu118 torchvision==0.15.2+cu118 --extra-index-url https://download.pytorch.org/whl/cu118
conda install -c "nvidia/label/cuda-11.8.0" cuda-toolkit
pip install ninja git+https://github.com/hturki/tiny-cuda-nn.git@ht/res-grid#subdirectory=bindings/torch
pip install nerfstudio==1.0.3
python setup.py develop
Use our preprocessing scripts to prepare the datasets:
mp-process [av2|kitti|vkitti2|waymo]
We provided detailed instructions for preparing the supported datasets in our documentation:
We provide detailed instructions for reproducing the experiments for the supported models:
Use the generated metadata files to train the model on a specific dataset:
ns-train <model_name> --data <filepath_to_metadata>
The models will be automatically evaluated when training finishes. To evaluate a trained model manually, execute
ns-eval --load-config <trained_model_config>
Render a single evaluation view with
mp-render view --image-idx <some_index> --load-config <path_to_trained_model>
To render the reference trajectory, run
mp-render camera-path --load-config <path_to_trained_model>
You can also use the nerfstudio viewer to generate your own camera paths or use arguments like smooth, rotate and mirror to alter the reference trajectory.
You can visualize your training with the viewer directly via specifying --vis viewer or visualize finished trainings with:
ns-viewer --load-config <path_to_trained_model>
We add sliders for time and sequence ID to control which objects are rendered at which location in the viewer.
For more detailed information on the codebase, please check out our documentation.
Please consider citing our work with the following references
@article{fischer2024dynamic,
title={Dynamic 3D Gaussian Fields for Urban Areas},
author={Fischer, Tobias and Kulhanek, Jonas and Bul{\`o}, Samuel Rota and Porzi, Lorenzo and Pollefeys, Marc and Kontschieder, Peter},
journal={arXiv preprint arXiv:2406.03175},
year={2024}
}
@InProceedings{fischer2024multi,
author = {Fischer, Tobias and Porzi, Lorenzo and Rota Bul\`{o}, Samuel and Pollefeys, Marc and Kontschieder, Peter},
title = {Multi-Level Neural Scene Graphs for Dynamic Urban Environments},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year = {2024}
}
This project builds on Nerfstudio. Parts of the data processing code and the video embedding implementation are based on SUDS. The Waymo preprocessing code is based on EmerNeRF.
