Add DROID BA fast path#83
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Superseded by #85, which rebases the work on main and renames the feature to fused BA / pipeline.slam.ba.fused. |
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Stacked on #82 / chunk 1.\n\nSummary:\n- Add an extended CUDA BA primitive with optional disparity masking and focal/intrinsics optimization.\n- Keep the existing slam_ext.ba API compatible while exposing slam_ext.ba_extended for ViPE-specific optional variables.\n- Add a gated GraphBuffer fast path behind VIPE_ENABLE_DROID_BA_FAST_PATH=1 for the single-view pinhole/no-robust-kernel case.\n\nIntentionally not included:\n- Fused dense depth-flow term computation.\n- Standalone Triton BA kernels.\n\nValidation:\n- uv run ruff check vipe/slam/components/buffer.py\n- CUDA_HOME=/usr/local/cuda-12.8 VIPE_EXT_JIT=1 MAX_JOBS=8 uv run python -m unittest tests.test_slam_ext_ba_extended -v\n- pre-commit hooks on both commits: ruff format, ruff check, mypy\n