Where can I find equation number 6 in your code?

[RoyAmoyal]

Hey, thanks for sharing the code for your cool work!

I can't find the code section related to equation number 6, where you jointly optimize the gaussians together with the camera parameters. (3.3. Joint Optimization for Alignment)

I can only find the original training of Gaussian Splatting in train_joint.py that optimizes the gaussians like in the original 3DGS, but not the camera poses. (I can't find the difference in the cuda backward section too)

thanks!

[murmurelo111]

train_joint.py

[RoyAmoyal]

train_joint.py

It's the exactly same Loss as the original Gaussian Splatting. I don't see where they optimize the camera poses (extrinsic's of the cameras, T's in their equation) along with the 3DGS. It requires additional code that I am probably missing..

[kairunwen]

https://github.com/NVlabs/InstantSplat/blob/main/scene/gaussian_model.py#L237 https://github.com/NVlabs/InstantSplat/blob/main/gaussian_renderer/__init__.py

[RoyAmoyal]

https://github.com/NVlabs/InstantSplat/blob/main/scene/gaussian_model.py#L237 https://github.com/NVlabs/InstantSplat/blob/main/gaussian_renderer/__init__.py

That's it!

Thanks!!