这行代码是否有误？

MisEty / RTG-SLAM

RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting (ACM SIGGRAPH 2024)

https://gapszju.github.io/RTG-SLAM/

GNU General Public License v3.0

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这行代码是否有误？ #6

Closed zengliangjun closed 1 week ago

zengliangjun commented 1 week ago

diff --git a/SLAM/multiprocess/mapper.py b/SLAM/multiprocess/mapper.py index b376f66..ecd0295 100755 --- a/SLAM/multiprocess/mapper.py +++ b/SLAM/multiprocess/mapper.py @@ -863,7 +863,7 @@ class Mapping(object):

     stable_normal_check = self.stable_pointcloud.get_normal[intersect_stable_index]
     stable_xyz_check = self.stable_pointcloud.get_xyz[intersect_stable_index]

unstable_xyz_check = self.temp_pointcloud.get_xyz[indices]
unstable_xyz_check = unstable_xyz[indices] point_to_plane_distance = ( (stable_xyz_check - unstable_xyz_check) * stable_normal_check ).sum(dim=-1)

请教一下，这一行是否有误呀！应该为 unstable_xyz

MisEty commented 1 week ago

不好意思没有看明白您的问题，可以具体描述一下您想要修改的是哪一行

zengliangjun commented 1 week ago

代码 SLAM/multiprocess/mapper.py

[833 ] unstable_xyz = self.temp_pointcloud.get_xyz
...
[837 ] unstable_xyz = unstable_xyz[unstable_opacity_filter]
...
[839 ] indices = torch.arange(unstable_xyz.shape[0]).cuda().long()
...
[866 ] unstable_xyz_check = self.temp_pointcloud.get_xyz[indices]

indices 对应是 unstable_xyz 的索引，在使用的时侯用的是 self.temp_pointcloud。在 837 行 unstable_xyz 与 self.temp_pointcloud 己经不一样了。所以我理解 866 行应该改为 unstable_xyz_check = unstable_xyz[indices] 才是正解的。

不知道这样理解对不对？

MisEty commented 1 week ago

在这个函数中，我们对temp_pointcloud进行筛选，temp_pointcloud是每帧新添加的高斯点，而此时这些点都是不透明的（参考add_empty_points），因此L837并不会筛选掉任何高斯，self.temp_pointcloud.get_xyz和unstable_xyz相同，并不会出现您说的问题。很抱歉我们在整理代码的过程中出现了错误导致了理解上的困难，感谢您的提醒，我们之后会修改这段代码使其不再产生歧义。