MASt3R-SLAM

MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors

This folder contains the instruction to run for the LearnOpenCV article - MASt3R-SLAM Explanation.

To run:

MASt3R-SLAM

Visit MASt3R-SLAM Repository

git clone https://github.com/rmurai0610/MASt3R-SLAM.git --recursive
cd MASt3R-SLAM/

# if you've clone the repo without --recursive run
# git submodule update --init --recursive

pip install -e thirdparty/mast3r
pip install -e thirdparty/in3d
pip install --no-build-isolation -e .
 

# Optionally install torchcodec for faster mp4 loading
pip install torchcodec==0.1

Download checkpoints:

wget https://download.europe.naverlabs.com/ComputerVision/MASt3R/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric.pth -P checkpoints/
wget https://download.europe.naverlabs.com/ComputerVision/MASt3R/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric_retrieval_trainingfree.pth -P checkpoints/
wget https://download.europe.naverlabs.com/ComputerVision/MASt3R/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric_retrieval_codebook.pkl -P checkpoints/```

Inference on a Image sequence

bash ./scripts/download_tum.sh
python main.py --dataset datasets/tum/rgbd_dataset_freiburg1_room/ --config config/calib.yaml	

Inference on a Video

It can process either MP4 videos or folders containing RGB images.

python main.py --dataset <path/to/video>.mp4 --config config/base.yaml
python main.py --dataset <path/to/folder> --config config/base.yaml

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