spla-tam / SplaTAM

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)
https://spla-tam.github.io/
BSD 3-Clause "New" or "Revised" License
1.59k stars 174 forks source link

Render RGB and depth in one shot #45

Closed Willyzw closed 11 months ago

Willyzw commented 11 months ago

Hi, I noticed the current code renders RGB and depth separately using different colors_precomp, I am curious whether it is possible to render them in just one shot. If so, what modifications would be needed, e.g. for the forward and backward passes? Thanks for your help.

ljjTYJR commented 11 months ago

Modify the code in diff-gaussian-rasterization-w-depth, just view the depth as one channel of the colors

Willyzw commented 11 months ago

Modify the code in diff-gaussian-rasterization-w-depth, just view the depth as one channel of the colors

indeed this would be a simple but effective way! Thanks for your suggestion 👍