Integrating Modular SLAM Pipeline into OpenCV Contrib#4043

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QueenofUSSR wants to merge 29 commits intoopencv:4.xfrom

QueenofUSSR:slam_m2

Commits on Dec 3, 2025

Commits on Dec 4, 2025

Commits on Dec 11, 2025

Commits on Dec 19, 2025

Commits on Dec 21, 2025

Commits on Dec 22, 2025

Add backend setters, map maintenance, and guarded Ceres SFM BA fallback.
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committed

Commits on Dec 23, 2025

clean unused members
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Commits on Dec 31, 2025

Update trajectory/keyframes with either geometric or PnP pose, remove CSV and unused variables, and fix warnings.
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committed

Commits on Jan 6, 2026

add trajectory CSV export and a test
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committed

Commits on Jan 8, 2026

Add intrinsics + configurable point-culling, redundant-keyframe removal, triangulation fix (camera↔world), switch to OpenCV logging, and minor robustness tweaks.
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committed

Commits on Jan 11, 2026

Added a full SLAM frontend/backend refactor introducing VisualOdometry, SlamSystem, map persistence, and visualization/sample updates to replace the old VO interface.
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committed

Commits on Jan 14, 2026

Adds loop-closure and pose-graph optimization (g2o/DBoW3), improves pose conversions/gauge handling and exports, and tightens map/visualizer robustness.
44-99
committed