vladimiryugay / gaussian-slam Goto Github PK

How could I visualize 3D Gaussians themselves - I mean scene represented with 3D Gaussians? Is there any script or some package that can do it? That would be useful for seeing how 3D Gaussians actually look like. Thank you

Is it possible to export the 3D mesh of a scene?

Dear authors,
I would like to express my gratitude for your exceptional work.
I am interested in learning more about how I can visualize the reconstruction results. For instance, MonoGS utilizes OpenGL, 3DGS employs SIBR_viewers, and Splatam comes with its own viz_scripts.
Do you use the "gaussian-splatting-lightning "? Could you please provide some insight into the use of "gaussian-splatting-lightning"? Perhaps you could share some examples in the readme?

Thank you

Thanks for the work and the very clean code. I'm running run_slam.py on my own RGBD dataset and while it got off to a good start, at one point tracking seems to have failed because cam_quad_err and cam_trans_err are NaN.

This kills the script because a singular matrix cannot be inverted:

Traceback (most recent call last):
  File "/home/abhishek/Code/Gaussian-SLAM/run_slam.py", line 111, in <module>
  File "/home/abhishek/Code/Gaussian-SLAM/src/entities/gaussian_slam.py", line 155, in run
    opt_dict = self.mapper.map(frame_id, estimate_c2w, gaussian_model, new_submap)
  File "/home/abhishek/Code/Gaussian-SLAM/src/entities/mapper.py", line 221, in map
    "render_settings": get_render_settings(
  File "/home/abhishek/Code/Gaussian-SLAM/src/utils/utils.py", line 93, in get_render_settings
    cam_center = torch.inverse(w2c)[:3, 3]
torch._C._LinAlgError: linalg.inv: The diagonal element 2 is zero, the inversion could not be completed because the input matrix is singular.
Traceback (most recent call last):
  File "/home/abhishek/Code/Gaussian-SLAM/run_slam.py", line 111, in <module>
  File "/home/abhishek/Code/Gaussian-SLAM/src/entities/gaussian_slam.py", line 155, in run
    opt_dict = self.mapper.map(frame_id, estimate_c2w, gaussian_model, new_submap)
  File "/home/abhishek/Code/Gaussian-SLAM/src/entities/mapper.py", line 221, in map
    "render_settings": get_render_settings(
  File "/home/abhishek/Code/Gaussian-SLAM/src/utils/utils.py", line 93, in get_render_settings
    cam_center = torch.inverse(w2c)[:3, 3]
torch._C._LinAlgError: linalg.inv: The diagonal element 2 is zero, the inversion could not be completed because the input matrix is singular.

I also notice color_loss and depth_loss to be 0.00000, not just for the RGBD frame at which NaN occurred but for several frames before, although they didn't have cam_quad_err and cam_trans_err as NaN which I guess allowed gslam.run() to keep going. In the frames leading up to NaN, the tracking errors are really high (for the frame right before it's cam_quad_err: 0.53914, cam_trans_err: 3293494.00000) and looking at the RGBD renders in the folder mapping_vis, the scene has completely fallen apart.

On scrolling back up to the logs where cam_trans_err had saner values like 0.33, the deterioration in tracking seems to have started for a frame where tracking iterations were doubled, presumably to cope with "higher initial loss":

Higher initial loss, increasing num_iters to 400

There on out, cam_trans_err kept growing: 0.58735, 0.98641, 1.39726, 2.21376, 3.07547, 3.95557, 4.83956, ...

Hi，I did not find an expression for Lreg loss. Can you provide or explain the loss function in detail?

Hey guys, congrats on the code release!

The project page link on the Readme points to SplaTAM. You might want to change that 😉

Привет когда организация разрешить публикнуть код будет что-то на подобии 1click install и желательно для винды)?

It seems there might be a discrepancy or an error in your paper regarding the results reported in Table 1 for the ScanNet dataset and Table 2 for the TUM-RGBD dataset. The paper mentions that the results for Nice-SLAM[1] and Vox-Fusion[2] are from Nicer-SLAM [3], but I couldn't find relevant experimental results in the Nicer-SLAM paper. Additionally, the Nicer-SLAM paper only includes results for the Replica and 7-Scenes datasets.

[1] Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R Oswald, and Marc Pollefeys. Nice-slam: Neural implicit scalable encoding for slam. In IEEE/CVF Conference on Computer Vision and Pattern Recognition, pages 12786–12796, 2022. 1, 2, 6, 7, 8, 9, 10,11.
[2] Xingrui Yang, Hai Li, Hongjia Zhai, Yuhang Ming, Yuqian Liu, and Guofeng Zhang. Vox-fusion: Dense tracking and mapping with voxel-based neural implicit representation. In IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pages 499–507. IEEE, 2022. 2, 6, 7, 8, 10.
[3] Zihan Zhu, Songyou Peng, Viktor Larsson, Zhaopeng Cui, Martin R Oswald, Andreas Geiger, and Marc Pollefeys. Nicerslam: Neural implicit scene encoding for rgb slam. arXiv preprint arXiv:2302.03594, 2023. 2, 6.

Hi, your work is amazing.
Could you provide some clues of the implementation of depth supervision?
I have tried other versions of depth-based diff-gaussian-rasterization package, such as:

1. https://github.com/ashawkey/diff-gaussian-rasterization
2. https://github.com/ingra14m/depth-diff-gaussian-rasterization/tree/depth-mean3D

However, the depth supervision for xyz of gaussians is extremely weak!
I'd like to know what's the difference between their package and yours for depth supervision.
Could you help me explain this issue?

Hi, thanks for sharing the code!

I'm wondering if there's a way to execute this in online mode, as intended for SLAM operation?

1. Question

2. Will it be possible to implement non RGB(D) videos/images to generate the Gaussian-Slam?

3. Question
   What are the scan timings, is Gaussian Splatting in real time like inference real-time view?

Thanks in advance

First of all, thank you for this wonderful project.

I have a capture of my house, and is there a way to run my own dataset?

@VladimirYugay Great work. This looks promissing. Do you have any plan to release code or any ETA date?

Hello. Can you confirm me, in the function render_gaussian_model, does returned variable alpha, represents rendered opacity/silhouette image? This line of the code : color, depth, alpha, radii = renderer(**render_args)

conda env update --file environment.yml
Collecting package metadata (repodata.json): | WARNING conda.models.version:get_matcher(546): Using .* with relational operator is superfluous and deprecated and will be removed in a future version of conda. Your spec was 1.8.0., but conda is ignoring the . and treating it as 1.8.0
WARNING conda.models.version:get_matcher(546): Using .* with relational operator is superfluous and deprecated and will be removed in a future version of conda. Your spec was 1.6.0., but conda is ignoring the . and treating it as 1.6.0
WARNING conda.models.version:get_matcher(546): Using .* with relational operator is superfluous and deprecated and will be removed in a future version of conda. Your spec was 1.7.1., but conda is ignoring the . and treating it as 1.7.1
WARNING conda.models.version:get_matcher(546): Using .* with relational operator is superfluous and deprecated and will be removed in a future version of conda. Your spec was 1.9.0., but conda is ignoring the . and treating it as 1.9.0
done
Solving environment: done

==> WARNING: A newer version of conda exists. <==
current version: 23.3.1
latest version: 24.3.0

Please update conda by running

$ conda update -n base -c conda-forge conda

Or to minimize the number of packages updated during conda update use

 conda install conda=24.3.0

Installing pip dependencies: | Ran pip subprocess with arguments:
['/home/ubuntu/conda/envs/gslam/bin/python', '-m', 'pip', 'install', '-U', '-r', '/home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt', '--exists-action=b']
Pip subprocess output:
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Cloning https://github.com/eriksandstroem/evaluate_3d_reconstruction_lib.git (to revision 9b3cc08be5440db9c375cc21e3bd65bb4a337db7) to /tmp/pip-req-build-k2z9n_op
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Requirement already satisfied: pyparsing>=2.3.1 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from matplotlib>=3->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (3.1.2)
Requirement already satisfied: python-dateutil>=2.7 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from matplotlib>=3->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.9.0.post0)
Requirement already satisfied: fastjsonschema>=2.15 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.19.1)
Requirement already satisfied: jsonschema>=2.6 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (4.21.1)
Requirement already satisfied: jupyter-core!=5.0.,>=4.12 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (5.7.2)
Requirement already satisfied: pytz>=2020.1 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from pandas>=1.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2024.1)
Requirement already satisfied: tzdata>=2022.7 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from pandas>=1.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2024.1)
Requirement already satisfied: charset-normalizer<4,>=2 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from requests<3,>=2.0.0->wandb->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 2)) (3.3.2)
Requirement already satisfied: idna<4,>=2.5 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from requests<3,>=2.0.0->wandb->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 2)) (3.6)
Requirement already satisfied: urllib3<3,>=1.21.1 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from requests<3,>=2.0.0->wandb->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 2)) (2.2.1)
Requirement already satisfied: certifi>=2017.4.17 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from requests<3,>=2.0.0->wandb->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 2)) (2024.2.2)
Requirement already satisfied: scipy>=1.6.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from scikit-learn>=0.21->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (1.13.0)
Requirement already satisfied: joblib>=1.2.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from scikit-learn>=0.21->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (1.4.0)
Requirement already satisfied: threadpoolctl>=2.0.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from scikit-learn>=0.21->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (3.4.0)
Requirement already satisfied: MarkupSafe>=2.1.1 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from werkzeug>=2.2.3->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.1.5)
Requirement already satisfied: Jinja2>=3.1.2 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from Flask<3.1,>=1.0.4->dash>=2.6.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (3.1.3)
Requirement already satisfied: itsdangerous>=2.1.2 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from Flask<3.1,>=1.0.4->dash>=2.6.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.1.2)
Requirement already satisfied: blinker>=1.6.2 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from Flask<3.1,>=1.0.4->dash>=2.6.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (1.7.0)
Requirement already satisfied: smmap<6,>=3.0.1 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from gitdb<5,>=4.0.1->GitPython!=3.1.29,>=1.0.0->wandb->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 2)) (5.0.1)
Requirement already satisfied: decorator in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (5.1.1)
Requirement already satisfied: jedi>=0.16 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.19.1)
Requirement already satisfied: matplotlib-inline in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.1.6)
Requirement already satisfied: prompt-toolkit<3.1.0,>=3.0.41 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (3.0.43)
Requirement already satisfied: pygments>=2.4.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.17.2)
Requirement already satisfied: stack-data in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.6.3)
Requirement already satisfied: exceptiongroup in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (1.2.0)
Requirement already satisfied: pexpect>4.3 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (4.9.0)
Requirement already satisfied: attrs>=22.2.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from jsonschema>=2.6->nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (23.2.0)
Requirement already satisfied: jsonschema-specifications>=2023.03.6 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from jsonschema>=2.6->nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2023.12.1)
Requirement already satisfied: referencing>=0.28.4 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from jsonschema>=2.6->nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.34.0)
Requirement already satisfied: rpds-py>=0.7.1 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from jsonschema>=2.6->nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.18.0)
Requirement already satisfied: platformdirs>=2.5 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from jupyter-core!=5.0.,>=4.12->nbformat>=5.7.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (4.2.0)
Requirement already satisfied: tenacity>=6.2.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from plotly>=5.0.0->dash>=2.6.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (8.2.3)
Requirement already satisfied: zipp>=0.5 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from importlib-metadata->dash>=2.6.0->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (3.18.1)
Requirement already satisfied: parso<0.9.0,>=0.8.3 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from jedi>=0.16->ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.8.4)
Requirement already satisfied: ptyprocess>=0.5 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from pexpect>4.3->ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.7.0)
Requirement already satisfied: wcwidth in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from prompt-toolkit<3.1.0,>=3.0.41->ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.2.13)
Requirement already satisfied: executing>=1.2.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from stack-data->ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.0.1)
Requirement already satisfied: asttokens>=2.1.0 in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from stack-data->ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (2.4.1)
Requirement already satisfied: pure-eval in /home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages (from stack-data->ipython>=6.1.0->ipywidgets>=8.0.4->open3d==0.18.0->-r /home/ubuntu/workdir/Gaussian-SLAM/condaenv.rg07_ib3.requirements.txt (line 1)) (0.2.2)
Using cached trimesh-4.3.0-py3-none-any.whl (693 kB)
Using cached pytorch_msssim-1.0.0-py3-none-any.whl (7.7 kB)
Using cached torchmetrics-1.3.2-py3-none-any.whl (841 kB)
Using cached lightning_utilities-0.11.2-py3-none-any.whl (26 kB)
Building wheels for collected packages: simple_knn, gaussian_rasterizer
Building wheel for simple_knn (setup.py): started
Building wheel for simple_knn (setup.py): finished with status 'error'
Running setup.py clean for simple_knn
Building wheel for gaussian_rasterizer (setup.py): started
Building wheel for gaussian_rasterizer (setup.py): finished with status 'error'
Running setup.py clean for gaussian_rasterizer
Failed to build simple_knn gaussian_rasterizer

Pip subprocess error:
Running command git clone --filter=blob:none --quiet https://github.com/eriksandstroem/evaluate_3d_reconstruction_lib.git /tmp/pip-req-build-k2z9n_op
Running command git rev-parse -q --verify 'sha^9b3cc08be5440db9c375cc21e3bd65bb4a337db7'
Running command git fetch -q https://github.com/eriksandstroem/evaluate_3d_reconstruction_lib.git 9b3cc08be5440db9c375cc21e3bd65bb4a337db7
Running command git clone --filter=blob:none --quiet https://github.com/VladimirYugay/simple-knn.git /tmp/pip-req-build-r9sin004
Running command git rev-parse -q --verify 'sha^c7e51a06a4cd84c25e769fee29ab391fe5d5ff8d'
Running command git fetch -q https://github.com/VladimirYugay/simple-knn.git c7e51a06a4cd84c25e769fee29ab391fe5d5ff8d
Running command git clone --filter=blob:none --quiet https://github.com/VladimirYugay/gaussian_rasterizer.git /tmp/pip-req-build-vh3i8h9e
Running command git rev-parse -q --verify 'sha^9c40173fcc8d9b16778a1a8040295bc2f9ebf129'
Running command git fetch -q https://github.com/VladimirYugay/gaussian_rasterizer.git 9c40173fcc8d9b16778a1a8040295bc2f9ebf129
error: subprocess-exited-with-error

× python setup.py bdist_wheel did not run successfully.
│ exit code: 1
╰─> [48 lines of output]
running bdist_wheel
running build
running build_ext
Traceback (most recent call last):
File "", line 2, in
File "", line 34, in
File "/tmp/pip-req-build-r9sin004/setup.py", line 21, in
setup(
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/init.py", line 104, in setup
return distutils.core.setup(**attrs)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 185, in setup
return run_commands(dist)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
dist.run_commands()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
self.run_command(cmd)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/dist.py", line 967, in run_command
super().run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/wheel/bdist_wheel.py", line 368, in run
self.run_command("build")
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
self.distribution.run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/dist.py", line 967, in run_command
super().run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/command/build.py", line 131, in run
self.run_command(cmd_name)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
self.distribution.run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/dist.py", line 967, in run_command
super().run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/command/build_ext.py", line 91, in run
_build_ext.run(self)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/command/build_ext.py", line 345, in run
self.build_extensions()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/torch/utils/cpp_extension.py", line 434, in build_extensions
self._check_cuda_version(compiler_name, compiler_version)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/torch/utils/cpp_extension.py", line 812, in _check_cuda_version
raise RuntimeError(CUDA_MISMATCH_MESSAGE.format(cuda_str_version, torch.version.cuda))
RuntimeError:
The detected CUDA version (11.7) mismatches the version that was used to compile
PyTorch (10.2). Please make sure to use the same CUDA versions.

  [end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for simple_knn
error: subprocess-exited-with-error

× python setup.py bdist_wheel did not run successfully.
│ exit code: 1
╰─> [52 lines of output]
running bdist_wheel
running build
running build_py
creating build/lib.linux-x86_64-cpython-310
creating build/lib.linux-x86_64-cpython-310/gaussian_rasterizer
copying gaussian_rasterizer/init.py -> build/lib.linux-x86_64-cpython-310/gaussian_rasterizer
running build_ext
Traceback (most recent call last):
File "", line 2, in
File "", line 34, in
File "/tmp/pip-req-build-vh3i8h9e/setup.py", line 19, in
setup(
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/init.py", line 104, in setup
return distutils.core.setup(**attrs)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 185, in setup
return run_commands(dist)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
dist.run_commands()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
self.run_command(cmd)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/dist.py", line 967, in run_command
super().run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/wheel/bdist_wheel.py", line 368, in run
self.run_command("build")
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
self.distribution.run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/dist.py", line 967, in run_command
super().run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/command/build.py", line 131, in run
self.run_command(cmd_name)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
self.distribution.run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/dist.py", line 967, in run_command
super().run_command(command)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
cmd_obj.run()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/command/build_ext.py", line 91, in run
_build_ext.run(self)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/setuptools/_distutils/command/build_ext.py", line 345, in run
self.build_extensions()
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/torch/utils/cpp_extension.py", line 434, in build_extensions
self._check_cuda_version(compiler_name, compiler_version)
File "/home/ubuntu/conda/envs/gslam/lib/python3.10/site-packages/torch/utils/cpp_extension.py", line 812, in _check_cuda_version
raise RuntimeError(CUDA_MISMATCH_MESSAGE.format(cuda_str_version, torch.version.cuda))
RuntimeError:
The detected CUDA version (11.7) mismatches the version that was used to compile
PyTorch (10.2). Please make sure to use the same CUDA versions.

  [end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for gaussian_rasterizer
ERROR: Could not build wheels for simple_knn, gaussian_rasterizer, which is required to install pyproject.toml-based projects

failed

CondaEnvException: Pip failed

nvcc --version

nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2022 NVIDIA Corporation
Built on Wed_Jun__8_16:49:14_PDT_2022
Cuda compilation tools, release 11.7, V11.7.99
Build cuda_11.7.r11.7/compiler.31442593_0