slam-pipeline

uv run camera-pub
uv run camera-pub ./videos/drive.mp4

uv run slam-sub
uv run slam-sub --backend orb
uv run slam-sub --backend orb --drop-nonmonotonic --init-frame-step 3
uv run slam-sub --backend dpvo
uv run slam-sub --backend droid
uv run slam-sub --backend mast3r
uv run slam-sub --backend dino
uv run slam-sub --backend dpvo --strict-backend

Remote / SSH Rerun

If you forward ports over SSH, keep both web and gRPC forwarded and use the local loopback connect host in the subscriber:

uv run slam-sub --backend orb --web-port 9090 --grpc-port 9876 --rerun-connect-host 127.0.0.1

Important: run only one camera-pub process per topic. Multiple concurrent publishers on slam/camera/frame can interleave frames and prevent monocular initialization.

Backends

• orb: ORB-SLAM3 backend (default, fully integrated)
• dpvo: DPVO/DPV-SLAM backend (experimental adapter)
• droid: DROID-SLAM backend (experimental adapter)
• mast3r: MASt3R-SLAM backend (experimental adapter)
• dino: DINO-VO backend (experimental adapter)

Experimental deep backends currently validate imports and reserve the shared API, but require project-specific model/config wiring for live frame-by-frame tracking.

By default, if a selected deep backend fails to initialize or process frames, the subscriber falls back to ORB-SLAM3 automatically. Use --strict-backend to disable fallback and fail immediately.

uv run slam-sub --backend orb --drop-nonmonotonic --init-frame-step 5 --rerun-connect-host 127.0.0.1

uv run camera-pub ./videos/videoplayback.mp4 --fps 15 --loop