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VladimirYugay / Gaussian-SLAM

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting
https://vladimiryugay.github.io/gaussian_slam
MIT License
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About depthL1 metric #21

Closed 00Haocheng closed 2 months ago

00Haocheng commented 3 months ago

Hello, thanks for sharing this excellent article; I could get the normal psnr and F1 metric, but I didn't know how to read the depth L1 result; In the output file, reconstruction_metrics.json and rendering_metrics.json record depth l1 and depth l1_train_view indicators, respectively. What do they mean

00Haocheng commented 3 months ago

By the way, when I ran the 3D rebuild evaluation,open3d gave a lot of warnings and ended up with a much larger depth l1 in reconstruction_metrics.json than in rendering_metrics.json, is there any problem? ~UU4KH9~BX9XHMX{7HUD FK

unique1i commented 3 months ago

Hi @anghaocheng, thanks for your interest in our work.

depth l1_train_view is the averaged rendered depth loss compared to the input RGBD frames that we used to train the mapper; it does not measure the reconstructed mesh. depth l1 measures the rendered depth using reconstructed mesh at newly sampled views compared to using ground truth mesh. It is expected that depth l1_train_view will be smaller.

I comitted a fix to address this Open3D visualizer issue. Please help check again and note that our reported depth_l1 values are obtained with headless version of Open3D.