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Aligned BundleAdjustment parameters with Optimizer/Strategy to avoid confusion in the code

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matlabbe
2026-05-31 13:51:00 -07:00
parent 71092e7c28
commit b8347613e8
5 changed files with 53 additions and 42 deletions
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corelib/include/rtabmap/core/Parameters.h
+4 -4
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@@ -517,9 +517,9 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
#else
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
#endif
RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
@@ -780,9 +780,9 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
#else
RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
#endif
// Features matching approaches
corelib/src/RegistrationVis.cpp
+4 -1
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@@ -1880,7 +1880,10 @@ Transform RegistrationVis::computeTransformationImpl(
(toSignature.sensorData().stereoCameraModels().size() >= 1 || toSignature.sensorData().cameraModels().size() >= 1))
{
UDEBUG("Refine with bundle adjustment");
Optimizer * sba = Optimizer::create(_bundleAdjustment==3?Optimizer::kTypeCeres:_bundleAdjustment==2?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O, _bundleParameters);
// _bundleAdjustment matches the Optimizer/Strategy parameter 1:1
// (1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba); 0 was filtered out above.
Optimizer * sba = Optimizer::create(
static_cast<Optimizer::Type>(_bundleAdjustment), _bundleParameters);
std::map<int, Transform> poses;
std::multimap<int, Link> links;
corelib/src/odometry/OdometryF2M.cpp
+6 -4
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@@ -110,13 +110,15 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
ParametersMap bundleParameters = parameters;
if(bundleAdjustment_ > 0)
{
if((bundleAdjustment_==1 && Optimizer::isAvailable(Optimizer::kTypeG2O)) ||
(bundleAdjustment_==2 && Optimizer::isAvailable(Optimizer::kTypeCVSBA)) ||
(bundleAdjustment_==3 && Optimizer::isAvailable(Optimizer::kTypeCeres)))
// The BundleAdjustment int matches the Optimizer/Strategy parameter
// 1:1 (g2o=1, GTSAM=2, Ceres=3, CVSBA=4). 0 = "disabled" -- it's
// the TORO slot, which isn't BA-capable.
const Optimizer::Type sbaType = static_cast<Optimizer::Type>(bundleAdjustment_);
if(Optimizer::isAvailable(sbaType))
{
// disable bundle in RegistrationVis as we do it already here
uInsert(bundleParameters, ParametersPair(Parameters::kVisBundleAdjustment(), "0"));
sba_ = Optimizer::create(bundleAdjustment_==3?Optimizer::kTypeCeres:bundleAdjustment_==2?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O, bundleParameters);
sba_ = Optimizer::create(sbaType, bundleParameters);
}
else
{