Q about pose estimation about splatam HOT 3 CLOSED

Hi @TwiceMao , could you be more specific about which part of the code you noticed this, and also provide some output?

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Hi, Thanks for your query!

We don't explicitly calculate gradients for the camera pose using CUDA. Instead, we use Pytorch. The camera pose can be modeled as a rigid rotation and translation of the Gaussians themselves. This is what you would do internally in a CUDA implementation anyway.

Doing this in Pytorch enables us to directly compute gradients through auto-differentiation as opposed to deriving the Jacobians ourselves.

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Nik-V9's answer is exactly what I need, thank you for your enthusiastic answer~

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