Question about post_slam_opt.py

[Yingsheng123]

Why do need to execute two files，post_slam_opt.py and slam.py？I find that there is optimization process in slam.py, what is the difference with the other file?

[ShuhongLL]

This has been adapted from SplaTAM, a post-optimization process after running the SLAM system to enhance map reconstruction quality. Similar modules have also been implemented in previous studies like MonoGS or Gaussian-SLAM, where are defined as a color refinement process. While optional, it is recommended to carry out this step :)