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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/RegistrationVis.cpp
+6
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@@ -321,6 +321,7 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("%s=%d", Parameters::kVisPnPFlags().c_str(), _PnPFlags);
UDEBUG("%s=%f", Parameters::kVisPnPMaxVariance().c_str(), _PnPMaxVar);
UDEBUG("%s=%f", Parameters::kVisPnPSplitLinearCovComponents().c_str(), _PnPSplitLinearCovarianceComponents);
UDEBUG("%s=%f", Parameters::kVisPnPVarianceMedianRatio().c_str(), _PnPVarMedianRatio);
UDEBUG("%s=%d", Parameters::kVisCorType().c_str(), _correspondencesApproach);
UDEBUG("%s=%d", Parameters::kVisCorFlowWinSize().c_str(), _flowWinSize);
UDEBUG("%s=%d", Parameters::kVisCorFlowIterations().c_str(), _flowIterations);
@@ -1632,6 +1633,7 @@ Transform RegistrationVis::computeTransformationImpl(
cameraTransform,
_PnPReprojError,
0.99f,
_PnPVarMedianRatio,
words3A, // for scale estimation
&variance,
&matchesV);
@@ -2204,6 +2206,10 @@ Transform RegistrationVis::computeTransformationImpl(
info.matches = matchesCount;
info.rejectedMsg = msg;
info.covariance = covariance;
if(!covariance.empty())
{
info.variance = covariance.at<double>(0,0);
}
UDEBUG("inliers=%d/%d", info.inliers, info.matches);
UDEBUG("transform=%s", transform.prettyPrint().c_str());