Optimization Backends

Optimization Backends

Python First | Python 优先

The standalone project now uses the Python optimizer as the default backend.

独立项目现在默认使用 Python 优化后端。

Why:

原因：

• simpler installation

• no mandatory ROS / catkin requirement

• consistent integration with the PyQt + Open3D GUI

• validated parity against the legacy C++ backend

• 安装更简单

• 不再强制依赖 ROS / catkin

• 与 PyQt + Open3D GUI 的集成更自然

• 已与 legacy C++ backend 做过一致性验证

Legacy C++ Fallback | Legacy C++ 回退后端

The C++ backend is still supported as an optional fallback.

C++ backend 仍保留为可选 fallback。

Use it when:

适用情况：

• you already have the legacy backend environment
• you want direct parity checks against historical runs
• you need a fallback when Python GTSAM is temporarily unavailable

Parameter Consistency | 参数一致性

The Python backend follows the same runtime-parameter precedence used by the legacy optimizer:

Python backend 遵循与 legacy optimizer 相同的参数优先级：

1. explicit CLI / GUI options
2. runtime_params.yaml
3. validated offline defaults

Output Files | 导出结果

Both backends export:

两种 backend 都会导出：

• pose_graph.g2o
• optimized_poses_tum.txt
• global_map_manual_imu.pcd
• trajectory.pcd
• pose_graph.png
• manual_loop_report.json