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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/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
View File
@@ -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
{