Problem of Map Deformation

[mingqiJ]

Hi, congratulation on the good work!

I have some questions about Map Deformation part.

I find you change the Gaussian location according to the pose changes. But DROID-SLAM tracking will change the key frame idx in frontend.py.

if d.item() < self.keyframe_thresh:
            self.graph.rm_keyframe(self.t1 - 1)            
            with self.video.get_lock():
                self.video.counter.value -= 1
                self.t1 -= 1

It means you will give Gaussians inserted by two frames the same key frame idx. When you do the deformation, you use the same new pose to change Gaussians inserted by different frames.

It doesn't make sense right?

Could you help me solve this question?