Many thanks for your contribution. I managed to run your algorithm and wanted to test it on a custom 3dgs model.
To test your code/pipeline for pose estimation, I gave GT as an input to see if the matching actually works. At the beginning, I get rotation error = 0 (which is correct), but translation error is a value (See below) and it keep diverging..
Hello,
Many thanks for your contribution. I managed to run your algorithm and wanted to test it on a custom 3dgs model.
To test your code/pipeline for pose estimation, I gave GT as an input to see if the matching actually works. At the beginning, I get rotation error = 0 (which is correct), but translation error is a value (See below) and it keep diverging..
When running:
python run.py -m /workspace/gaussian-splatting/output/90e8a679-0 --delta "[0, 0, 0, 0, -1, 2]" --iteration -1The output for the first few iterations is: Step: 0 [25/09 10:59:09] Matching Loss: 0.041636742651462555 [25/09 10:59:09] Comparing Loss: 0.10141441971063614 [25/09 10:59:09] Loss: 0.05359227955341339 [25/09 10:59:09] Rotation error: 0.0 [25/09 10:59:09] Translation error: 2.236068531668483 [25/09 10:59:09] ----------------------------------- [25/09 10:59:09] Step: 19 [25/09 10:59:16] Matching Loss: 0.02194092608988285 [25/09 10:59:16] Comparing Loss: 0.06959312409162521 [25/09 10:59:16] Loss: 0.031471364200115204 [25/09 10:59:16] Rotation error: 25.218416722577796 [25/09 10:59:16] Translation error: 1.7767880712268327 [25/09 10:59:16] ----------------------------------- [25/09 10:59:16] Step: 39 [25/09 10:59:24] Matching Loss: 0.01661391369998455 [25/09 10:59:24] Comparing Loss: 0.06967666745185852 [25/09 10:59:24] Loss: 0.027226464822888374 [25/09 10:59:24] Rotation error: 19.045722522821475 [25/09 10:59:24] Translation error: 1.707659319367202 [25/09 10:59:24] ----------------------------------- [25/09 10:59:24] Step: 59 [25/09 10:59:32] Matching Loss: 0.009333186782896519 [25/09 10:59:32] Comparing Loss: 0.0682191252708435 [25/09 10:59:32] Loss: 0.021110374480485916 [25/09 10:59:32] Rotation error: 14.673228469612315 [25/09 10:59:32] Translation error: 1.8484341758152285 [25/09 10:59:32] ----------------------------------- [25/09 10:59:32]
Could you tell me why is there a translation error, even though the input is the ground truth?
Many thanks in advance! Best Isso