Comments (3)
Hi @TwiceMao , could you be more specific about which part of the code you noticed this, and also provide some output?
from splatam.
Hi, Thanks for your query!
We don't explicitly calculate gradients for the camera pose using CUDA. Instead, we use Pytorch. The camera pose can be modeled as a rigid rotation and translation of the Gaussians themselves. This is what you would do internally in a CUDA implementation anyway.
Line 216 in bbaf5cc
Doing this in Pytorch enables us to directly compute gradients through auto-differentiation as opposed to deriving the Jacobians ourselves.
from splatam.
Nik-V9's answer is exactly what I need, thank you for your enthusiastic answer~
from splatam.
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