Maybe typo in the cuda code of pose retraction

princeton-vl / DROID-SLAM

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Maybe typo in the cuda code of pose retraction #7

Closed Willyzw closed 2 years ago

Willyzw commented 2 years ago

Thanks for releasing this excellent work! One small thing drew my attention and unsure if this is on purpose, which is the xi[45] at this line. https://github.com/princeton-vl/DROID-SLAM/blob/9843482ec70a84d28defe3def4ed84b3a77ce914/src/droid_kernels.cu#L154

zachteed commented 2 years ago

Thank you for pointing this out. This is indeed a bug and could cause an illegal memory access, but seems to have negligible impact on the accuracy of our system. And it only affects inference, not training or evaluation.

Anyways I am going to correct this issue. Our results may improve slightly after fixing the bug, and we are running some tests to check.

Willyzw commented 2 years ago

Great! Since you have correct the index in the last commit, I am closing this issue.