{"id":222,"date":"2026-03-23T18:48:55","date_gmt":"2026-03-23T10:48:55","guid":{"rendered":"https:\/\/web.mcfrys.cn\/?p=222"},"modified":"2026-03-30T00:45:40","modified_gmt":"2026-03-29T16:45:40","slug":"splatam%e5%a4%8d%e7%8e%b0","status":"publish","type":"post","link":"https:\/\/web.mcfrys.cn\/index.php\/2026\/03\/23\/splatam%e5%a4%8d%e7%8e%b0\/","title":{"rendered":"SplaTam\u590d\u73b0"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">1.WINDOWS\u5b89\u88c5wsl2 + ubuntu20.04<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/blog.csdn.net\/weixin_44435619\/article\/details\/159089238\">\u3010\u539f\u521b\u3011\u6700\u5b9e\u7528\u7684Win10\/11\u7cfb\u7edf\u4e0bWSL2+Ubuntu20.04\u7684\u5168\u6d41\u7a0b\u5b89\u88c5\u6307\u5357\uff08\u8fc1\u79fb\u81f3 D \u76d8\u65b9\u6cd5\uff09_wsl\u5b89\u88c5ubuntu-CSDN\u535a\u5ba2<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">2.\u5b89\u88c5\u73af\u5883conda python torch \u7b49<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">sudo apt update<br>sudo apt install -y git wget curl build-essential cmake ninja-build pkg-config<br>sudo apt install -y libgl1 libglib2.0-0 sudo apt install -y mesa-utils libegl1 libgl1-mesa-glx libgtk2.0-0<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">sudo apt install -y mesa-utils libegl1 libgl1-mesa-glx libgtk2.0-0<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">wget https:\/\/repo.anaconda.com\/miniconda\/Miniconda3-latest-Linux-x86_64.sh<br>bash Miniconda3-latest-Linux-x86_64.sh<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">source ~\/.bashrc<br>conda &#8211;version<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">conda create -n splatam python=3.10<br>conda activate splatam<br>conda install -c &#8220;nvidia\/label\/cuda-11.6.0&#8221; cuda-toolkit<br>conda install pytorch==1.12.1 torchvision==0.13.1 torchaudio==0.12.1 cudatoolkit=11.6 -c pytorch -c conda-forge<br>pip install -r requirements.txt<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u95ee\u98981:CUDA\u7248\u672c\u8fc7\u9ad8<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u6b65\u9aa4 1\uff1a\u5378\u8f7d\u5f53\u524d\u4e0d\u5339\u914d\u7684 PyTorch<\/h4>\n\n\n\n<pre class=\"wp-block-code\"><code># \u786e\u4fdd\u5728splatam\u73af\u5883\u91cc\nconda activate splatam\n\n# \u5378\u8f7d\u73b0\u6709torch\npip uninstall -y torch torchvision torchaudio<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\">\u6b65\u9aa4 2\uff1a\u5b89\u88c5\u9002\u914d CUDA 11.6 \u7684 PyTorch<\/h4>\n\n\n\n<pre class=\"wp-block-code\"><code># \u7528\u6e05\u534ePyTorch\u955c\u50cf\u6e90\u5b89\u88c51.12.1+cu116\uff08\u6838\u5fc3\u63d0\u901f\uff01\uff09\npip install torch==1.12.1+cu116 torchvision==0.13.1+cu116 torchaudio==0.12.1 -i https:\/\/pypi.tuna.tsinghua.edu.cn\/simple --extra-index-url https:\/\/download.pytorch.org\/whl\/cu116<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u95ee\u98982:wandb\u767b\u5f55\u95ee\u9898<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/blog.csdn.net\/lovechris00\/article\/details\/146437418?ops_request_misc=elastic_search_misc&amp;request_id=07596a1584617fb7e2231f29abed7551&amp;biz_id=0&amp;utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_click~default-2-146437418-null-null.142^v102^pc_search_result_base8&amp;utm_term=wandb&amp;spm=1018.2226.3001.4187\">wandb &#8211; \u6ce8\u518c\u3001\u83b7\u53d6 API Key_wandb \u5b98\u7f51-CSDN\u535a\u5ba2<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u65b0\u590d\u523b \u53c2\u8003<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/blog.csdn.net\/weixin_52562858\/article\/details\/146288379?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522509097631aa28a116320f3e85e1b695d%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&amp;request_id=509097631aa28a116320f3e85e1b695d&amp;biz_id=0&amp;utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-17-146288379-null-null.142^v102^pc_search_result_base7&amp;utm_term=splatam&amp;spm=1018.2226.3001.4187\">Ubuntu20.04\u4e0b\u914d\u7f6eSplaTAM_ubuntu\u5b89\u88c5splatam-CSDN\u535a\u5ba2<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b58\u5728\u95ee\u9898\u5c31\u662f\u5c06\u4f9d\u8d56\u6539\u4e3a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/web.mcfrys.cn\/wp-content\/uploads\/2026\/03\/image.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"517\" height=\"193\" data-original=\"https:\/\/web.mcfrys.cn\/wp-content\/uploads\/2026\/03\/image.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-226\"  sizes=\"auto, (max-width: 517px) 100vw, 517px\" \/><\/div><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u5355\u72ec\u5b89\u88c5pip install kornia==0.7.1 &#8211;no-deps pip install torchmetrics==1.0.0 pip install lpips<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd0\u884c\u601d\u8def\u76ee\u524d<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728Ubuntu20.04\u7528ROSBAG\u8bb0\u5f55\u626b\u63cf\u6570\u636e\u505a\u6210\u6807\u51c6TUM\u6570\u636e\u96c6\uff0c\u62f7\u8d1d\u5230splatam\u6839\u76ee\u5f55\u4e0b<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8986\u76d6\u540e\u70b9\u51fb\u8f93\u5165(\u8bb0\u5f97\u6539\u5e27\u6570\u76ee-(\u5728)\uff0c\u6539\u76f8\u673a\u53c2\u6570\uff0c\u5206\u8fa8\u7387)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">python scripts\/splatam.py configs\/my_splatam.py \u8dd1\u811a\u672c\u5efa\u56fe<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">python viz_scripts\/final_recon.py configs\/my_splatam.py \u770b\u6700\u7ec8\u7ed3\u679c\u56fe<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">gazebo\u4eff\u771f<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6839\u636e<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/blog.csdn.net\/y139135\/article\/details\/155966931?ops_request_misc=&amp;request_id=&amp;biz_id=102&amp;utm_term=%E5%AE%87%E6%A0%91go2%20gazebo%20rgbd%E7%9B%B8%E6%9C%BA&amp;utm_medium=distribute.pc_search_result.none-task-blog-2~blog~sobaiduweb~default-9-155966931.nonecase&amp;spm=1018.2226.3001.4450\">Ubuntu20.04 Gazebo\u4e2d\u4eff\u771f\u5b87\u6811\u673a\u5668\u72d7\u548c\u5916\u7f6e\u6fc0\u5149\u96f7\u8fbe_\u5b87\u6811\u673a\u5668\u72d7go2\u7684gazebo\u4eff\u771f-CSDN\u535a\u5ba2<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/www.guyuehome.com\/detail?id=1892031577741905922\">\u5b87\u6811\u673a\u5668\u72d7go2\u4eff\u771f\u6dfb\u52a02d\u96f7\u8fbe\u3001\u5355\u76ee\u76f8\u673a\u548c\u6df1\u5ea6\u76f8\u673a<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e24\u4e2a\u63a8\u8350\u6587\u7ae0\u590d\u73b0<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6dfb\u52a0\u76f8\u673a\u63d2\u4ef6 gazeboROS\u5b98\u65b9\u652f\u6301 \u6df1\u5ea6\u76f8\u673a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6253\u5f00\u4eff\u771f\u73af\u5883<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">source devel\/setup.bash<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>roslaunch unitree_guide gazeboSim.launch rname:=go2<\/li>\n\n\n\n<li>rosrun unitree_guide junior_ctrl<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u81ea\u5b9a\u4e49\u5730\u56fe\uff0c\u6a21\u578b(\u652f\u6301STL)\u65b9\u6cd5\u5982\u4e0b:<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1.WINDOWS\u5b89\u88c5wsl2 + ubuntu20.04 \u3010\u539f\u521b\u3011\u6700\u5b9e\u7528\u7684Win10\/11\u7cfb\u7edf\u4e0bWSL2+U [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-222","post","type-post","status-publish","format-standard","hentry","category-learn"],"_links":{"self":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/222","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/comments?post=222"}],"version-history":[{"count":8,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/222\/revisions"}],"predecessor-version":[{"id":237,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/222\/revisions\/237"}],"wp:attachment":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/media?parent=222"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/categories?post=222"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/tags?post=222"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}