fixed broken demos

Author: zachteed

README.md

@@ -15,7 +15,7 @@ Zachary Teed and Jia Deng
 }
 ```
 
-**Initial Code Release:** This repo currently provides a single GPU implementation of our monocular SLAM system. It currently contains demos, training, and evaluation scripts. 
+**Initial Code Release:** This repo currently provides a single GPU implementation of our monocular, stereo, and RGB-D SLAM systems. It currently contains demos, training, and evaluation scripts. 
 
 
 ## Requirements

demo.py

@@ -82,6 +82,7 @@ def image_stream(imagedir, calib, stride):
     parser.add_argument("--backend_nms", type=int, default=3)
     args = parser.parse_args()
 
+    args.stereo = False
     torch.multiprocessing.set_start_method('spawn')
 
     droid = None
@@ -92,10 +93,10 @@ def image_stream(imagedir, calib, stride):
             continue
 
         if not args.disable_vis:
-            show_image(image)
+            show_image(image[0])
 
         if droid is None:
-            args.image_size = [image.shape[1], image.shape[2]]
+            args.image_size = [image.shape[2], image.shape[3]]
             droid = Droid(args)
 
         droid.track(t, image, intrinsics=intrinsics)

droid_slam/motion_filter.py

@@ -32,7 +32,6 @@ def __init__(self, net, video, thresh=2.5, device="cuda:0"):
     @torch.cuda.amp.autocast(enabled=True)
     def __context_encoder(self, image):
         """ context features """
-        x = self.cnet(image)
         net, inp = self.cnet(image).split([128,128], dim=2)
         return net.tanh().squeeze(0), inp.relu().squeeze(0)