question about the first pose

Question

question about the first pose

Opened this issue 20 days ago · 2 comments

Hi, thank you for the great work.

I have a question about the first pose which should be identity, if I transform the first pose in dataset, then the splatam uses that first frame pose to do tracking for the rest of frame relative to that. But by changing the first frame to a non identity matrix, the result is very bad. I think I'm missing something here.

Answer 1 · 2024-09-13T02:05:02.000Z

Hi, Thanks for your interest in our work! Can you elaborate further?

I think this behavior might have to do with the stability of optimization world frame poses as opposed to relative poses.

Answer 2 · 2024-09-13T02:46:48.000Z

It seems like even if the relative_pose in dataset is set to False, the initialization for camera poses in params and also the gaussians translations and rotations are defined to have the first pose as identity. I manually changed them according to gt_pose for first frame, but I think some where in eval function also needs some adjustment.