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Added Ceres multicam BA support

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This commit is contained in:
matlabbe
2026-05-31 13:36:02 -07:00
parent 1e03599736
commit 71092e7c28
2 changed files with 142 additions and 59 deletions
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corelib/test/test_optimizer.cpp
+6 -5
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@@ -2643,12 +2643,13 @@ TEST_P(MultiCamBundleAdjustmentTest, FourCameraRigRecoversPosesAndPoints)
INSTANTIATE_TEST_SUITE_P(
Backends,
MultiCamBundleAdjustmentTest,
// Only g2o and GTSAM support multi-camera BA in rtabmap. Cross
// every FOV regime (wide 100° / narrow 60°) with mono / stereo
// (15 cm baseline + noisy disparity-derived depth) with /
// without the pose-graph chain. 16 variants total.
// g2o, GTSAM, and Ceres all support multi-camera BA. CVSBA
// doesn't (its underlying Sba::run() API is single-camera).
// Cross every FOV regime (wide 100° / narrow 60°) with mono /
// stereo (15 cm baseline + noisy disparity-derived depth) with
// or without the pose-graph chain. 24 variants total.
::testing::Combine(
::testing::Values(Optimizer::kTypeG2O, Optimizer::kTypeGTSAM),
::testing::Values(Optimizer::kTypeG2O, Optimizer::kTypeGTSAM, Optimizer::kTypeCeres),
::testing::Values(MultiCamFov::kWide, MultiCamFov::kNarrow),
::testing::Values(MultiCamMode::kMono, MultiCamMode::kStereo),
::testing::Values(MultiCamLinks::kWithLinks, MultiCamLinks::kNoLinks)),