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autonomousvision / gaussian-opacity-fields

Gaussian Opacity Fields: Efficient and Compact Surface Reconstruction in Unbounded Scenes
https://niujinshuchong.github.io/gaussian-opacity-fields/
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Using own localization data instead of COLMAP #63

Open karthik101200 opened 2 months ago

karthik101200 commented 2 months ago

Hi thank you for the work. I want to ask if I can bypass COLMAP poses and instead use localization data that I already have from ROS or any other method. I understand this work may not be related or considered. But are there suggestions and markers to code where I can change it

niujinshuchong commented 2 months ago

Hi, it is definitely possible to use other dataset. I think you need to write your own data loader to load the training images, poses and initial point cloud. You can check here for reference https://github.com/autonomousvision/gaussian-opacity-fields/blob/main/scene/dataset_readers.py#L226-L260