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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/util3d_features.cpp
+3 -2
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@@ -213,6 +213,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
Transform & cameraTransform,
float ransacReprojThreshold,
float ransacConfidence,
int varianceMedianRatio,
const std::map<int, cv::Point3f> & refGuess3D,
double * varianceOut,
std::vector<int> * matchesOut)
@@ -345,7 +346,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
}
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> varianceMedianRatio];
float var = 2.1981 * median_error_sqr;
//UDEBUG("scale %d = %f variance = %f", (int)i, s, variance);
@@ -369,7 +370,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
}
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> varianceMedianRatio];
variance = 2.1981 * median_error_sqr;
}
}