OptimizerG2O: adding support for priors in SBA#1670
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matlabbe
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Mar 13, 2026
matlabbe
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- Refactor how 2D slam is constrained in SBA. Use approach from this example to add planar constraints directly in the optimizer https://github.com/RainerKuemmerle/g2o/blob/37d8e5fd9ca31e0eb4d23fcfe0cad87a7a2cea81/g2o/examples/line_slam/simulator_3d_line.cpp#L96-L107
- Support prior links in SBA
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