Read EuRoC cam0/data.csv: "#timestamp [ns],filename". Returns image basenames (shared by cam0/cam1, hardware-synced) and timestamps in seconds.

Acquire a slot and wrap it in a refcounted DeviceDescriptors handle sized for `count` keypoints. The handle's slot_ref returns the slot to the pool on

Return odometry edge noise for the global pose graph. Keyframe to keyframe relatives come from the jointly optimized window.

`owner/repo` from `git remote get-url origin` (ssh or https form).

Resolve the window size: prefer env SUPERSLAM_WS_WINDOW, then YAML cfg when greater than 0, otherwise the default.

Write a contiguous CPU state_dict to `path` as safetensors and return the path.

Covisibility keyframe gate: insert when the tracked-feature ratio drops below covisibility_ratio, or after max_frames. Scale-invariant.

Return the deserialized engine to share with a second LightGlue (no re-deserialize).

Depth (m) beyond which stereo depth is smoothly deweighted (small disparity is ill-conditioned). Set d_cond = mbf / Z_cond.

An exact odometry chain (seeds perturbed) must recover the ground-truth poses.

Drive a synthetic loop trajectory through VoEstimator with loop closure enabled (sync). The trajectory returns to the start; the final keyframe's glob

Absolute Trajectory Error (translation) after SE3/Sim3 Umeyama alignment.

Compute a keyframe's global descriptor from its left image (delegates to the place recognizer). Run on the loop worker thread.

Extract a rectified stereo pair. Default: two single-image calls. SuperPoint overrides this with one batched {2,1,H,W} infer.