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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/Memory.cpp
+13 -4
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@@ -5836,7 +5836,6 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
cameraModels.size() == 1 &&
words.size() &&
(words3D.size() == 0 || (words.size() == words3D.size() && words3DValid!=(int)words3D.size())) &&
_registrationPipeline->isImageRequired() &&
_signatures.size() &&
_signatures.rbegin()->second->mapId() == _idMapCount) // same map
{
@@ -5880,11 +5879,14 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// The following is used only to re-estimate the correspondences, the returned transform is ignored
Transform tmpt;
RegistrationVis reg(parameters_);
ParametersMap tmpParams = parameters_;
// Pure 2D-2D without guess would generate variance=1
uInsert(tmpParams, ParametersPair(Parameters::kVisEpipolarGeometryVar(), "1"));
RegistrationVis reg(tmpParams);
if(_registrationPipeline->isScanRequired())
{
// If icp is used, remove it to just do visual registration
RegistrationVis vis(parameters_);
RegistrationVis vis(tmpParams);
tmpt = vis.computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
}
else
@@ -5906,11 +5908,18 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
previousWords.insert(std::make_pair(iter->first, cpPrevious.getWordsKpts()[iter->second]));
}
float reprojError = Parameters::defaultVisPnPReprojError();
int varianceMedianRatio = Parameters::defaultVisPnPVarianceMedianRatio();
Parameters::parse(parameters_, Parameters::kVisPnPReprojError(), reprojError);
Parameters::parse(parameters_, Parameters::kVisPnPVarianceMedianRatio(), varianceMedianRatio);
std::map<int, cv::Point3f> inliers = util3d::generateWords3DMono(
currentWords,
previousWords,
cameraModels[0],
cameraTransform);
cameraTransform,
reprojError,
0.99f,
varianceMedianRatio);
UDEBUG("inliers=%d", (int)inliers.size());