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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/PreferencesDialog.cpp
+3 -3
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@@ -1281,9 +1281,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_g2o_solver->setObjectName(Parameters::kg2oSolver().c_str());
_ui->comboBox_g2o_optimizer->setObjectName(Parameters::kg2oOptimizer().c_str());
_ui->doubleSpinBox_g2o_pixelVariance->setObjectName(Parameters::kg2oPixelVariance().c_str());
_ui->doubleSpinBox_g2o_robustKernelDelta->setObjectName(Parameters::kg2oRobustKernelDelta().c_str());
_ui->doubleSpinBox_g2o_baseline->setObjectName(Parameters::kg2oBaseline().c_str());
_ui->doubleSpinBox_g2o_pixelVariance->setObjectName(Parameters::kOptimizerPixelVariance().c_str());
_ui->doubleSpinBox_g2o_robustKernelDelta->setObjectName(Parameters::kOptimizerRobustKernelDelta().c_str());
_ui->doubleSpinBox_g2o_baseline->setObjectName(Parameters::kOptimizerBaseline().c_str());
_ui->comboBox_gtsam_optimizer->setObjectName(Parameters::kGTSAMOptimizer().c_str());
_ui->gtsam_incremental->setObjectName(Parameters::kGTSAMIncremental().c_str());