Official 3DGS based Densification for SLAM

[Promethe-us]

I really appreciate your wonderful work! I find you have write densify function (densify method of vanilla 3D Gaussian Slplatting) in utils/slam_rextenel.py. Have you test this function instead of add_new_gaussians based on depth image. How it works? I will be appreciate if you can reply.

[Nik-V9]

Hi, we haven't tested the official 3DGS densification in place of our depth-based densification. Given enough time to converge and keyframes with sufficient multi-view coverage, I believe it would be possible to use the densify function to replace the depth-based one used in SplaTAM.

This is an exciting experiment, which we haven't got time to test yet!