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princeton-vl / DROID-SLAM

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backend step is commented out #120

Closed adizhol-str closed 1 month ago

adizhol-str commented 7 months ago

Hello,

Why is the backend step commented out in droid.track()? Also, according to the paper, the backend should run in a separate process, and not sequentially like in the code.

Thank you

ThakurSarveshGit commented 1 month ago

Currently, backend runs in the following manner:

  1. For every factor (which are typically 10-12), backend is run at every step.
  2. For final bundle adjustment, backend is run in iterative routine(7+12 times).