add observation threshold

gsplat/strategy/scaffold.py

@@ -85,22 +85,31 @@ class ScaffoldStrategy(Strategy):
     feat_dim: int = 32
     n_feat_offsets: int = 10
     refine_every: int = 100
+
+    # 3.3 Observation Thresholds (compare paper)
+    # "To enhance the robustness of the Growing and Pruning operations for long image sequences, ..."
+    pruning_thresholds: float = 0.8
+    growing_thresholds: float = 0.4
+
     pause_refine_after_reset: int = 0
     absgrad: bool = False
     revised_opacity: bool = False
     verbose: bool = True
+
     colors_mlp: torch.nn.Sequential = torch.nn.Sequential(
         torch.nn.Linear(feat_dim + 3, feat_dim),
         torch.nn.ReLU(True),
         torch.nn.Linear(feat_dim, 3 * n_feat_offsets),
         torch.nn.Sigmoid()
     ).cuda()
+
     opacities_mlp: torch.nn.Sequential = torch.nn.Sequential(
         torch.nn.Linear(feat_dim + 3, feat_dim),
         torch.nn.ReLU(True),
         torch.nn.Linear(feat_dim, n_feat_offsets),
         torch.nn.Tanh()
     ).cuda()
+
     scale_rot_mlp: torch.nn.Sequential = torch.nn.Sequential(
         torch.nn.Linear(feat_dim + 3, feat_dim),
         torch.nn.ReLU(True),
@@ -201,13 +210,12 @@ def step_post_backward(
             if self.verbose:
                 print(
                     f"Step {step}: {new_anchors} anchors grown."
-                    f"Now having {len(params['anchors'])} GSs."
+                    f"Now having {len(params['anchors'])} anchors."
                 )
 
             # prune GSs
             is_prune = (state["anchor_opacity"] < self.prune_opa * state["anchor_count"]).squeeze()
-            mask = state["anchor_opacity"] > self.prune_opa
-            print(mask.sum().item())
+            is_prune = torch.logical_and(is_prune, state["anchor_count"] > self.refine_every * self.pruning_thresholds)
 
             n_prune = is_prune.sum().item()
             if n_prune > 0:
@@ -216,8 +224,8 @@ def step_post_backward(
 
             if self.verbose:
                 print(
-                    f"Step {step}: {n_prune} GSs pruned. "
-                    f"Now having {len(params['anchors'])} GSs."
+                    f"Step {step}: {n_prune} anchors pruned. "
+                    f"Now having {len(params['anchors'])} anchors."
                 )
 
             # reset running stats
@@ -386,6 +394,7 @@ def _anchor_growing(
         epsilon_g = self.voxel_size
         new_anchors: torch.tensor
 
+        growing_treshold = state["count"] > self.refine_every * self.growing_thresholds
         # Step 2: Iterate while m <= M
         while m <= M:
             n_feature_diff = params["features"].shape[0] * self.n_feat_offsets - n_init_features
@@ -399,6 +408,8 @@ def _anchor_growing(
 
             # Step 4: Mask from grad threshold. Select neural gaussians (Select candidates)
             gradient_mask = grads >= tau
+            #
+            gradient_mask = torch.logical_and(gradient_mask, growing_treshold)
             gradient_mask = torch.cat([gradient_mask, torch.zeros(n_feature_diff, dtype=torch.bool, device=device)], dim=0)
             neural_gaussians = params["anchors"].unsqueeze(dim=1) + params["offsets"] * torch.exp(params["scales"])[:,:3].unsqueeze(dim=1)
             selected_neural_gaussians = neural_gaussians.view([-1,3])[gradient_mask]