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Add Mast3r_slam Example #9242

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Mar 11, 2025
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Add Mast3r_slam Example #9242

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92d9469
Add mast3r_slam python external python example
pablovela5620 Mar 9, 2025
af4653b
Merge branch 'rerun-io:main' into main
pablovela5620 Mar 9, 2025
65a6000
Update README.md for ci/aspect ratio/spell fixes
pablovela5620 Mar 11, 2025
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1 change: 1 addition & 0 deletions examples/manifest.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,7 @@ examples = [
"open_photogrammetry_format",
"kiss-icp",
"differentiable_blocks_world",
"mast3r_slam",
"stereo_vision_slam",
"glomap",
"hloc_glomap",
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24 changes: 24 additions & 0 deletions examples/python/mast3r_slam/README.md
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@@ -0,0 +1,24 @@
<!--[metadata]
title = "Mast3r slam - real-time dense slam with 3D reconstruction priors"
tags = ["2D", "3D", "Pinhole camera", "Time series", "SLAM"]
source = "https://github.com/rerun-io/mast3r-slam"
thumbnail = "https://static.rerun.io/square-thumbnail/56b091d93d23c4353f6a919bf789493da19893e6/480w.png"
thumbnail_dimensions = [480, 474]
-->

https://vimeo.com/1064055355?autoplay=1&loop=1&autopause=0&background=1&muted=1&ratio=2802:1790

## Background

Mast3r-slam is a realtime monocular slam system that is based on Mast3r, a two view 3D reconstruction and matching prior. Equipped with this strong prior, the system is robust on in-the-wild video sequences despite making no assumption on a fixed or parametric camera model beyond a unique camera center. It introduces efficient methods for pointmap matching, camera tracking and local fusion, graph construction and loop closure, and second-order global optimisation. With known calibration, a simple modification to the system achieves state-of-the-art performance across various benchmarks.

## Run the code

This is an external example. Check the [repository](https://github.com/rerun-io/mast3r-slam) for more information on how to run the code.

TLDR: make sure you have the [Pixi package manager](https://pixi.sh/latest/#installation) installed and run
```
git clone https://github.com/rerun-io/mast3r-slam.git
cd mast3r-slam
pixi run example-base
```
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