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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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Is each sample point seeded with two gaussians? #24

Closed DeepDuke closed 2 months ago

DeepDuke commented 2 months ago

image

Thanks for your great work! I have two questions.

In the section of Building Sub-maps Progressively, it's said

For each sampled point, we seed two gaussians

Where is the corresponding code ? I only saw one gaussian is seeded.

BTW, what does features_dc and features_rest mean in gaussian model? TKS!

VladimirYugay commented 2 months ago

Hey there,

Thanks for your interest in our work.

  1. The code we released is slightly different from the paper on arxiv. Arxiv is a little bit outdated. In the current implementation, we seed only 1 Gaussian - as you said
  2. Features dc and rest relate to the spherical harmonics used to describe the color. We don't go into the details in the paper since it's well described in the original Gaussian splatting paper. For example, this Github issue answers your exact question.
DeepDuke commented 2 months ago

Thanks for your detailed answer!