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Added GTSAM BA, updated Ceres to use g2o ba parameters. Renamed g2o's ba related parameters to Optimizer group and used by both gtsam and ceres.

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matlabbe
2026-05-31 00:03:18 -07:00
parent 0b0779079f
commit 1ef19d6ac4
18 changed files with 1350 additions and 102 deletions
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guilib/src/MainWindow.cpp
+1 -1
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@@ -7120,7 +7120,7 @@ void MainWindow::postProcessing(
ParametersMap parametersSBA = _preferencesDialog->getAllParameters();
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(sbaIterations)));
uInsert(parametersSBA, std::make_pair(Parameters::kg2oPixelVariance(), uNumber2Str(sbaVariance)));
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerPixelVariance(), uNumber2Str(sbaVariance)));
Optimizer * sbaOptimizer = Optimizer::create(sbaType, parametersSBA);
std::map<int, Transform> newPoses = sbaOptimizer->optimizeBA(
optimizedPoses.begin()->first,