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Lab-of-AI-and-Robotics / GS_ICP_SLAM

[ECCV 2024] RGBD GS-ICP SLAM
MIT License
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race condition? #34

Open tarquai opened 2 months ago

tarquai commented 2 months ago

mp_Mapper.py:137 self.is_tracking_keyframe_shared[0] = 0 should be after mp_Mapper.py:146-151 newcam = copy.deepcopy(self.shared_cam) newcam.on_cuda()

    self.mapping_cams.append(newcam)
    self.keyframe_idxs.append(newcam.cam_idx[0])
    self.new_keyframes.append(len(self.mapping_cams)-1)

because the tracker can update the shared_cam immediately to a new value. and the original value will be overridden and lost.

Riboha commented 2 months ago

Hello,

Thank you for your suggestion, and I agree with your suggestion. I will correct that part!