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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
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Why is it the w2c in transform_to_frame function? #72

Closed Z-Pengcheng closed 9 months ago

Z-Pengcheng commented 9 months ago

Hi, good job. But i have a question about transform_to_frame function in slam_helpers.py. The role of the transform_to frame function is to transform isotropic Gaussian from the world frame to the camera frame. This transformation should use the world to camera transformation matrix. But there is transformed_pts = (rel_w2c @ pts4.T).T[:, :3] in codes. Should rel_w2c be turned into its inverse matrix rel_c2w?

Z-Pengcheng commented 9 months ago

I seem to understand this question. w2c represents the transformation from the world to camera coordinates.