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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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tools/RgbdDataset/main.cpp
+1 -1
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@@ -228,7 +228,7 @@ int main(int argc, char * argv[])
else {
printf("ERROR: Dataset %s is not supported. Update rgbd_dataset tool to include the right calibration parameter for this dataset!\n", sequenceName.c_str());
}
//parameters.insert(ParametersPair(Parameters::kg2oBaseline(), uNumber2Str(40.0f/model.fx())));
//parameters.insert(ParametersPair(Parameters::kOptimizerBaseline(), uNumber2Str(40.0f/model.fx())));
model.save(path);
SensorCaptureThread cameraThread(new