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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/Rtabmap.cpp
+4
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@@ -2613,6 +2613,7 @@ bool Rtabmap::process(
int loopClosureVisualInliers = 0; // for statistics
float loopClosureVisualInliersRatio = 0.0f;
int loopClosureVisualMatches = 0;
float loopClosureVisualVariance = 0.0f;
float loopClosureLinearVariance = 0.0f;
float loopClosureAngularVariance = 0.0f;
float loopClosureVisualInliersMeanDist = 0;
@@ -2795,6 +2796,7 @@ bool Rtabmap::process(
loopClosureVisualInliers = info.inliers;
loopClosureVisualInliersRatio = info.inliersRatio;
loopClosureVisualMatches = info.matches;
loopClosureVisualVariance = info.variance;
cv::Mat information = getInformation(info.covariance);
loopClosureLinearVariance = 1.0/information.at<double>(0,0);
@@ -3062,6 +3064,7 @@ bool Rtabmap::process(
loopClosureVisualInliers = info.inliers;
loopClosureVisualInliersRatio = info.inliersRatio;
loopClosureVisualMatches = info.matches;
loopClosureVisualVariance = info.variance;
rejectedLoopClosure = transform.isNull();
if(rejectedLoopClosure)
{
@@ -4049,6 +4052,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopVisual_inliers(), loopClosureVisualInliers);
statistics_.addStatistic(Statistics::kLoopVisual_inliers_ratio(), loopClosureVisualInliersRatio);
statistics_.addStatistic(Statistics::kLoopVisual_matches(), loopClosureVisualMatches);
statistics_.addStatistic(Statistics::kLoopVisual_variance(), loopClosureVisualVariance);
statistics_.addStatistic(Statistics::kLoopLinear_variance(), loopClosureLinearVariance);
statistics_.addStatistic(Statistics::kLoopAngular_variance(), loopClosureAngularVariance);
statistics_.addStatistic(Statistics::kLoopLast_id(), _memory->getLastGlobalLoopClosureId());