Influence of SE3 augmentation on rendering

[pyun-ram]

Thank you for this great project, @GuanxingLu!

I noticed that the function apply_se3_augmentation_with_camera_pose augments the point cloud and action without updating rendering-related parameters (e.g., nerf_target_camera_extrinsic). Could this cause misalignment in GS rendering, or is there an alignment step I may have missed? I’d appreciate any insights you can share.

Additionally, I’m curious why ManiGaussian randomly selects a single view out of the 21 available views for computing the rendering loss instead of utilizing all 21 views. Is there a specific reason for this design choice?

Thank you!