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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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guilib/src/PostProcessingDialog.cpp
+27 -31
View File
@@ -40,30 +40,28 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
_ui = new Ui_PostProcessingDialog();
_ui->setupUi(this);
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA) &&
!Optimizer::isAvailable(Optimizer::kTypeG2O) &&
!Optimizer::isAvailable(Optimizer::kTypeCeres))
int firstAvailable = -1;
for(int i = 0; i < _ui->comboBox_sbaType->count(); ++i)
{
const Optimizer::Type type = static_cast<Optimizer::Type>(i);
const bool usable = type != Optimizer::kTypeTORO && Optimizer::isAvailable(type);
if(usable)
{
if(firstAvailable < 0) firstAvailable = i;
}
else
{
_ui->comboBox_sbaType->setItemData(i, 0, Qt::UserRole - 1);
}
}
if(firstAvailable < 0)
{
_ui->sba->setEnabled(false);
_ui->sba->setChecked(false);
}
else
{
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
_ui->comboBox_sbaType->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(0);
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->comboBox_sbaType->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeCeres))
{
_ui->comboBox_sbaType->setItemData(2, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
_ui->comboBox_sbaType->setCurrentIndex(firstAvailable);
}
restoreDefaults();
@@ -135,8 +133,13 @@ bool PostProcessingDialog::validateForm()
void PostProcessingDialog::updateVisibility()
{
_ui->sba_variance->setVisible(_ui->comboBox_sbaType->currentIndex() == 0);
_ui->label_variance->setVisible(_ui->comboBox_sbaType->currentIndex() == 0);
// Pixel variance applies to every BA backend except CVSBA (its
// underlying Sba::run() API takes 2D points only -- no info-matrix
// knob).
const Optimizer::Type type = static_cast<Optimizer::Type>(_ui->comboBox_sbaType->currentIndex());
const bool usesPixelVariance = type != Optimizer::kTypeCVSBA;
_ui->sba_variance->setVisible(usesPixelVariance);
_ui->label_variance->setVisible(usesPixelVariance);
}
void PostProcessingDialog::saveSettings(QSettings & settings, const QString & group) const
@@ -288,7 +291,7 @@ double PostProcessingDialog::sbaVariance() const
}
Optimizer::Type PostProcessingDialog::sbaType() const
{
return _ui->comboBox_sbaType->currentIndex()==2?Optimizer::kTypeCeres:_ui->comboBox_sbaType->currentIndex()==1?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O;
return static_cast<Optimizer::Type>(_ui->comboBox_sbaType->currentIndex());
}
bool PostProcessingDialog::sbaRematchFeatures() const
{
@@ -349,18 +352,11 @@ void PostProcessingDialog::setSBAVariance(double variance)
}
void PostProcessingDialog::setSBAType(Optimizer::Type type)
{
if(type == Optimizer::kTypeCeres)
if(type < 0 || type >= _ui->comboBox_sbaType->count())
{
_ui->comboBox_sbaType->setCurrentIndex(2);
}
else if(type == Optimizer::kTypeCVSBA)
{
_ui->comboBox_sbaType->setCurrentIndex(1);
}
else
{
_ui->comboBox_sbaType->setCurrentIndex(0);
type = Optimizer::kTypeG2O;
}
_ui->comboBox_sbaType->setCurrentIndex(static_cast<int>(type));
}
void PostProcessingDialog::setSBARematchFeatures(bool value)
{
guilib/src/ui/postProcessingDialog.ui
+12 -2
View File
@@ -267,7 +267,7 @@
<item row="2" column="1">
<widget class="QLabel" name="label_variance">
<property name="text">
<string>Pixel variance used by g2o.</string>
<string>Pixel variance used by g2o / GTSAM / Ceres BA.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -308,6 +308,11 @@
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_sbaType">
<item>
<property name="text">
<string>TORO</string>
</property>
</item>
<item>
<property name="text">
<string>g2o</string>
@@ -315,7 +320,7 @@
</item>
<item>
<property name="text">
<string>cvsba</string>
<string>GTSAM</string>
</property>
</item>
<item>
@@ -323,6 +328,11 @@
<string>Ceres</string>
</property>
</item>
<item>
<property name="text">
<string>cvsba</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">