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autonomousvision / gaussian-opacity-fields

[SIGGRAPH Asia'24 & TOG] Gaussian Opacity Fields: Efficient Adaptive Surface Reconstruction in Unbounded Scenes
https://niujinshuchong.github.io/gaussian-opacity-fields/
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What is the actual meaning of depth = rendering[6, :, :]? #81

Open booker-max opened 1 week ago

booker-max commented 1 week ago

"Hello, I have real LiDAR depth data that can be used for network supervision, but I found some issues when directly using LiDAR to supervise depth = rendering[6, :, :]. It seems that render_depth is not the true depth. I have two questions:

  1. What is the actual meaning of depth = rendering[6, :, :]?
  2. How should real LiDAR data be used to supervise this depth?"
niujinshuchong commented 1 week ago

Hi, the depth is the ray-Gaussian intersection. It is the median depth when the accumulated blending weights for a pixel excel 0.5.

You can simply use a L1 loss if you can compute the depth of a pixel from your LiDAR data.