i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-10 03:49:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2026-05-31 13:51:00 -07:00
parent 71092e7c28
commit b8347613e8
5 changed files with 53 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/RegistrationVis.cpp
+4 -1
View File
@@ -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;