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DBReader: added ignore imu option, GUI: added tf overrides option (#1637)

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* DBReader: added ignore imu option, GUI: added tf overrides option

* transform offset
This commit is contained in:
matlabbe
2026-01-17 18:21:16 -08:00
committed by GitHub
parent 7db14533f1
commit 42faef3941
16 changed files with 330 additions and 166 deletions
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corelib/src/DBReader.cpp
+14 -7
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@@ -56,6 +56,7 @@ DBReader::DBReader(const std::string & databasePath,
int startMapId,
int stopMapId,
bool priorsIgnored,
bool imuIgnored,
const std::vector<Transform> & cameraLocalTransformOverrides) :
Camera(frameRate),
_paths(uSplit(databasePath, ';')),
@@ -69,6 +70,7 @@ DBReader::DBReader(const std::string & databasePath,
_landmarksIgnored(landmarksIgnored),
_featuresIgnored(featuresIgnored),
_priorsIgnored(priorsIgnored),
_imuIgnored(imuIgnored),
_startMapId(startMapId),
_stopMapId(stopMapId),
_cameraLocalTransformOverrides(cameraLocalTransformOverrides),
@@ -96,6 +98,7 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
int startMapId,
int stopMapId,
bool priorsIgnored,
bool imuIgnored,
const std::vector<Transform> & cameraLocalTransformOverrides) :
Camera(frameRate),
_paths(databasePaths),
@@ -109,6 +112,7 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
_landmarksIgnored(landmarksIgnored),
_featuresIgnored(featuresIgnored),
_priorsIgnored(priorsIgnored),
_imuIgnored(imuIgnored),
_startMapId(startMapId),
_stopMapId(stopMapId),
_cameraLocalTransformOverrides(cameraLocalTransformOverrides),
@@ -463,14 +467,17 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
}
Transform gravityTransform;
std::multimap<int, Link> gravityLinks;
_dbDriver->loadLinks(*_currentId, gravityLinks, Link::kGravity);
if( gravityLinks.size() &&
!gravityLinks.begin()->second.transform().isNull() &&
gravityLinks.begin()->second.infMatrix().cols == 6 &&
gravityLinks.begin()->second.infMatrix().rows == 6)
if(!_imuIgnored)
{
gravityTransform = gravityLinks.begin()->second.transform();
std::multimap<int, Link> gravityLinks;
_dbDriver->loadLinks(*_currentId, gravityLinks, Link::kGravity);
if( gravityLinks.size() &&
!gravityLinks.begin()->second.transform().isNull() &&
gravityLinks.begin()->second.infMatrix().cols == 6 &&
gravityLinks.begin()->second.infMatrix().rows == 6)
{
gravityTransform = gravityLinks.begin()->second.transform();
}
}
Landmarks landmarks;