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reprocess: added -cam_tf and -cam_tf_lens_offset options

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This commit is contained in:
matlabbe
2025-04-16 13:39:54 -07:00
parent b5dce57be8
commit ccb6ce67d5
3 changed files with 201 additions and 27 deletions
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corelib/include/rtabmap/core/DBReader.h
+6 -2
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@@ -58,7 +58,8 @@ public:
bool featuresIgnored = false,
int startMapId = 0,
int stopMapId = -1,
bool priorsIgnored = false);
bool priorsIgnored = false,
const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
DBReader(const std::list<std::string> & databasePaths,
float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
bool odometryIgnored = false,
@@ -72,7 +73,8 @@ public:
bool featuresIgnored = false,
int startMapId = 0,
int stopMapId = -1,
bool priorsIgnored = false);
bool priorsIgnored = false,
const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
virtual ~DBReader();
virtual bool init(
@@ -91,6 +93,7 @@ protected:
private:
SensorData getNextData(SensorCaptureInfo * info = 0);
void checkArguments();
private:
std::list<std::string> _paths;
@@ -106,6 +109,7 @@ private:
bool _priorsIgnored;
int _startMapId;
int _stopMapId;
std::vector<Transform> _cameraLocalTransformOverrides;
DBDriver * _dbDriver;
UTimer _timer;