Comments (3)
I think it's related to the render camera setting. The gaussian render Renderer(raster_settings = curr_data['cam']
, so the render camera's view is always from the first frame's position (call it as view camera). Usually it's identity, which is easy to understand. But when it's not identity, the depth value from scene to view camera used be adjusted.
I may not express it very well, but I think the key is there is a view camera.
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Hi @RPFey, Thanks for your question! @Buffyqsf is right.
The input w2c
for the transformed_params2depthplussilhouette
function is the first_frame_w2c
, the viewing camera. Ideally, if all the poses are with respect to the first frame (as is the case with SplaTAM), the input w2c
to the transformed_params2depthplussilhouette
function would be identity. However, to make sure the function is general and works with any viewing camera definition, we convert the world frame Gaussians to the viewing camera frame to compute the depth:
Line 172 in a0bda58
from splatam.
Thank you for your replies. It answers my questions !
from splatam.
Related Issues (20)
- Query regarding constant camera intrinsics HOT 8
- Type of Loss Function HOT 2
- GPU memory during training HOT 1
- Query regarding first camera pose HOT 2
- Query regarding Scannet dataset config HOT 2
- Query regarding data loading for custom dataset HOT 2
- Question about the evaluation metrics
- Query regarding Replica Dataset Version & Performance HOT 3
- Question regarding number of frames tracked during SLAM HOT 1
- Inquiry Regarding Runtime Discrepancies in Splatam HOT 4
- Why is the projmatrix in cam the same to first frame? HOT 3
- diff-gaussian-rasterization error HOT 2
- PSNR are not good.
- Video was taken for map reconstruction
- Clarification Needed on Code Questions
- Confusing about Trajectory Evaluation Function evaluate_ate
- CUDA OUT OF MEMORY
- D435i real-time or offline slam?
- Question regarding the shape of the mask created from the `depth`.
- CUDA Out of Memory
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