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muskie82 / MonoGS

[CVPR'24 Highlight & Best Demo Award] Gaussian Splatting SLAM
https://rmurai.co.uk/projects/GaussianSplattingSLAM/
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camera pose optimization #141

Open ZelinZhou666 opened 2 months ago

ZelinZhou666 commented 2 months ago

Hi thanks for your work. I have a question that since the cam_rot_delta and cam_trans_delta are in the parameters group which will be optimize, but the graidents are computed as the derivative of Loss with respect to derivative of T_CW, which T_CW is the absolute transformation from the world frame to camera frame. Isn't it should be the derivative of Loss with respect to derivative of delta_T_CW?

jdeng21 commented 1 month ago

Hi! I have a problem similar to yours. I notice there is a parameter called grad_tau and parameter in cuda called dL_dtau. Do you know what this 'tau' is and what is the relationship with cam_rot_delta and cam_trans_delta? Thank you! @ZelinZhou666 @muskie82