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OptimizerG2O: track BA outliers per observation (#1741)

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* OptimizerG2O: track BA outliers per observation

Track rejected BA projections by word and pose, preserving a landmark's optimized estimate whenever at least one observation remains active. Add a deterministic g2o regression and focused Linux CTest coverage.

* Changed some error logs to warning

---------

Co-authored-by: happyman <[email protected]>
Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
1m-pony
2026-08-09 17:36:27 -07:00
committed by GitHub
co-authored by happyman matlabbe
parent 338e142e58
commit df52523a0c
17 changed files with 823 additions and 235 deletions
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corelib/src/Optimizer.cpp
+6 -2
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@@ -476,8 +476,12 @@ std::map<int, Transform> Optimizer::optimizeBA(
const std::map<int, std::vector<CameraModel> > & models,
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, FeatureBA> > & wordReferences,
std::set<int> * outliers)
BAOutliers * outliers)
{
if(outliers)
{
outliers->clear();
}
UERROR("Optimizer %d doesn't implement optimizeBA() method.", (int)this->type());
return std::map<int, Transform>();
}
@@ -563,7 +567,7 @@ Transform Optimizer::optimizeBA(
const CameraModel & model,
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, FeatureBA> > & wordReferences,
std::set<int> * outliers)
BAOutliers * outliers)
{
std::map<int, Transform> poses;
poses.insert(std::make_pair(link.from(), Transform::getIdentity()));