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yanchi-3dv / diff-gaussian-rasterization-for-gsslam

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What is the difference between tracking and mapping mode? #3

Closed TwiceMao closed 4 months ago

TwiceMao commented 4 months ago

@NPU-YanChi Thank you for your excellent work. What is the difference between tracking and mapping mode? Will it affect the gradient of the rendered color map and the rendered depth?

TwiceMao commented 4 months ago

I also want to ask, compared with the original rendering code, will it take up much more GPU memory? If so, approximately how much?

yanchi-3dv commented 4 months ago
  1. In tracking mode, I disable some intermediate variable need by cal camera pose, so it can save some time.
  2. The forward pass is basically consistent with volume rendering, which is common used in NeRF based Depth rendering. However, note that Dynamic3DGaussians use median depth.
  3. Compared with the original rendering code, I think it would not take up much more GPU memory, maybe a very slight increase. I didn't test for that.
TwiceMao commented 4 months ago

Thx！