部署环境Ubuntu 22.04ROS2 Humble开发环境安装下载源代码git clone --branch main --single-branch --recurse-submodules gitgithub.com:Eku127/DualMap.gitcd DualMap创建 conda 环境conda create -n dualmap python3.10 -y激活环境conda activate dualmap强制使用清华源pip install cmake faiss-cpu1.9.0 torch torchvision torchaudio tyro open_clip_torch wandb h5py openai hydra-core distinctipy ultralytics8.3.103 dill supervision0.25.1 open3d imageio natsort kornia rerun-sdk0.22.1 record3d1.4.1 pyliblzfse pypng tabulate pympler plyfile numpy2.0 -i https://pypi.tuna.tsinghua.edu.cn/simple拉取 CLIP 模型库pip install githttps://ghproxy.net/https://github.com/ultralytics/CLIP.gitRun with iPhoneapp_runner_record_3d.md修改参数运行测试python -m applications.runner_record_3d结果保存在手机上点击停止录制会自动保存后停止程序Offline Map Queryapp_offline_query.md下载数据集download the data here: OneDrive下载模型wget -c --no-check-certificate https://hf-mirror.com/apple/MobileCLIP-S2-OpenCLIP/resolve/main/open_clip_pytorch_model.bin