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Update CI badges (#1681)

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* OptimizerG2O: adding support for priors in SBA

* Fixed computeError

* don't fix root id roll/pitch if gravity constraints are fed (SBA)

* changed number_t to double

* forward compatibility

* cleanup

* log

* Updated CI status

* split cmake workflow in linux and windows

* bump release badge version

* uniformize name

* fixing android build
This commit is contained in:
matlabbe
2026-03-29 12:34:09 -07:00
committed by GitHub
parent 26bab2ba15
commit 51cfc37923
4 changed files with 77 additions and 40 deletions
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2
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -1656,7 +1656,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
pinfo(2, 2) = 1e9;
planeConstraint->setInformation(pinfo);
g2o::SE3Quat fixedZ = g2o::SE3Quat();
fixedZ.setTranslation(g2o::Vector3(0,0,iter->second.z()));
fixedZ.setTranslation(Eigen::Vector3d(0,0,iter->second.z()));
planeConstraint->setMeasurement(fixedZ);
Eigen::Affine3d a = iterModel->second[i].localTransform().inverse().toEigen3d();
planeConstraint->setCameraInvLocalTransform(g2o::SE3Quat(a.linear(), a.translation()));