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Merged
JanuszBedkowski merged 1 commit into from
Nov 28, 2025
Merged

Small bugfixes #262

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9 changes: 5 additions & 4 deletions apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -843,7 +843,7 @@ void lidar_odometry_gui()
params.in_out_params_indoor.resolution_X = 0.01;
}
ImGui::SameLine();
ImGui::InputDouble("X", &params.in_out_params_outdoor.resolution_X, 0.0, 0.0, "%.3f");
ImGui::InputDouble("X##ndt", &params.in_out_params_outdoor.resolution_X, 0.0, 0.0, "%.3f");
if (ImGui::IsItemHovered())
ImGui::SetTooltip(xText);
if (params.in_out_params_outdoor.resolution_X < 0.01)
Expand All @@ -859,7 +859,7 @@ void lidar_odometry_gui()
params.in_out_params_indoor.resolution_Y = 0.01;
}
ImGui::SameLine();
ImGui::InputDouble("Y", &params.in_out_params_outdoor.resolution_Y, 0.0, 0.0, "%.3f");
ImGui::InputDouble("Y##ndt", &params.in_out_params_outdoor.resolution_Y, 0.0, 0.0, "%.3f");
if (ImGui::IsItemHovered())
ImGui::SetTooltip(yText);
if (params.in_out_params_outdoor.resolution_Y < 0.01)
Expand All @@ -875,7 +875,7 @@ void lidar_odometry_gui()
params.in_out_params_indoor.resolution_Z = 0.01;
}
ImGui::SameLine();
ImGui::InputDouble("Z", &params.in_out_params_outdoor.resolution_Z, 0.0, 0.0, "%.3f");
ImGui::InputDouble("Z##ndt", &params.in_out_params_outdoor.resolution_Z, 0.0, 0.0, "%.3f");
if (ImGui::IsItemHovered())
ImGui::SetTooltip(zText);
if (params.in_out_params_outdoor.resolution_Z < 0.01)
Expand Down Expand Up @@ -1450,8 +1450,9 @@ void lidar_odometry_gui()
}
}
}
ImGui::End();
}

ImGui::End();
}

void progress_window()
Expand Down
58 changes: 29 additions & 29 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,35 @@ unsigned long long int get_rgd_index(const Eigen::Vector3d p, const Eigen::Vecto
return get_index(x, y, z);
}

std::vector<Point3Di> decimate(const std::vector<Point3Di>& points, double bucket_x, double bucket_y, double bucket_z)
{
// std::cout << "points.size before decimation: " << points.size() << std::endl;
Eigen::Vector3d b(bucket_x, bucket_y, bucket_z);
std::vector<Point3Di> out;

std::vector<PointCloud::PointBucketIndexPair> ip;
ip.resize(points.size());
out.reserve(points.size());

for (int i = 0; i < points.size(); i++)
{
ip[i].index_of_point = i;
ip[i].index_of_bucket = get_rgd_index(points[i].point, b);
}
std::sort(ip.begin(), ip.end(), [](const PointCloud::PointBucketIndexPair& a, const PointCloud::PointBucketIndexPair& b)
{ return a.index_of_bucket < b.index_of_bucket; });

if (ip.size() != 0)
out.emplace_back(points[ip[0].index_of_point]);

for (int i = 1; i < ip.size(); i++)
if (ip[i - 1].index_of_bucket != ip[i].index_of_bucket)
out.emplace_back(points[ip[i].index_of_point]);

// std::cout << "points.size after decimation: " << out.size() << std::endl;
return out;
}

Eigen::Matrix4d getInterpolatedPose(const std::map<double, Eigen::Matrix4d> &trajectory, double query_time)
{

Expand Down Expand Up @@ -91,35 +120,6 @@ Eigen::Matrix4d getInterpolatedPose(const std::map<double, Eigen::Matrix4d> &tra
return ret;
}

std::vector<Point3Di> decimate(const std::vector<Point3Di> &points, double bucket_x, double bucket_y, double bucket_z)
{
// std::cout << "points.size before decimation: " << points.size() << std::endl;
Eigen::Vector3d b(bucket_x, bucket_y, bucket_z);
std::vector<Point3Di> out;

std::vector<PointCloud::PointBucketIndexPair> ip;
ip.resize(points.size());
out.reserve(points.size());

for (int i = 0; i < points.size(); i++)
{
ip[i].index_of_point = i;
ip[i].index_of_bucket = get_rgd_index(points[i].point, b);
}
std::sort(ip.begin(), ip.end(), [](const PointCloud::PointBucketIndexPair &a, const PointCloud::PointBucketIndexPair &b)
{ return a.index_of_bucket < b.index_of_bucket; });
for (int i = 1; i < ip.size(); i++)
{
// std::cout << ip[i].index_of_bucket << " ";
if (ip[i - 1].index_of_bucket != ip[i].index_of_bucket)
{
out.emplace_back(points[ip[i].index_of_point]);
}
}
// std::cout << "points.size after decimation: " << out.size() << std::endl;
return out;
}

void limit_covariance(Eigen::Matrix3d &io_cov)
{
return;
Expand Down
19 changes: 9 additions & 10 deletions apps/multi_session_registration/multi_session_registration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2850,7 +2850,6 @@ void project_gui()
}
}
}
//
}
}

Expand Down Expand Up @@ -2960,9 +2959,9 @@ void project_gui()
// }
}
}

ImGui::End();
}

ImGui::End();
}

void display()
Expand Down Expand Up @@ -3385,7 +3384,7 @@ void display()
{
if (ImGui::MenuItem("Open project", "Ctrl+O"))
openProject();
if (ImGui::MenuItem("Save project", "Ctrl+S", nullptr, sessions.size() > 0))
if (ImGui::MenuItem("Save project", "Ctrl+S", nullptr, project_settings.session_file_names.size() > 0))
saveProject();

ImGui::Separator();
Expand Down Expand Up @@ -3437,7 +3436,7 @@ void display()
ImGui::Separator();

ImGui::Text("(x,y,z,r00,r01,r02,r10,r11,r12,r20,r21,r22)");
if (ImGui::MenuItem("Save all as csv (timestamp Lidar)"))
if (ImGui::MenuItem("Save all as csv (timestamp Lidar)##1"))
{
for (size_t i = 0; i < project_settings.session_file_names.size(); ++i)
{
Expand Down Expand Up @@ -3502,7 +3501,7 @@ void display()

std::cout << "Finished saving all trajectories to CSV files." << std::endl;
}
if (ImGui::MenuItem("Save all as csv (timestamp Unix)"))
if (ImGui::MenuItem("Save all as csv (timestamp Unix)##1"))
{
for (size_t i = 0; i < project_settings.session_file_names.size(); ++i)
{
Expand Down Expand Up @@ -3557,7 +3556,7 @@ void display()
}
}
}
if (ImGui::MenuItem("Save all as csv (timestamp Lidar, Unix)"))
if (ImGui::MenuItem("Save all as csv (timestamp Lidar, Unix)##1"))
{
for (size_t i = 0; i < project_settings.session_file_names.size(); ++i)
{
Expand Down Expand Up @@ -3618,7 +3617,7 @@ void display()
ImGui::Separator();
ImGui::Text("(x,y,z,qx,qy,qz,qw)");

if (ImGui::MenuItem("Save all as csv (timestamp Lidar)"))
if (ImGui::MenuItem("Save all as csv (timestamp Lidar)##2"))
{
for (size_t i = 0; i < project_settings.session_file_names.size(); ++i)
{
Expand Down Expand Up @@ -3678,7 +3677,7 @@ void display()

std::cout << "Finished saving all trajectories to CSV files." << std::endl;
}
if (ImGui::MenuItem("Save all as csv (timestamp Unix)"))
if (ImGui::MenuItem("Save all as csv (timestamp Unix)##2"))
{
for (size_t i = 0; i < project_settings.session_file_names.size(); ++i)
{
Expand Down Expand Up @@ -3738,7 +3737,7 @@ void display()

std::cout << "Finished saving all trajectories to CSV files." << std::endl;
}
if (ImGui::MenuItem("Save all as csv (timestamp Lidar, Unix)"))
if (ImGui::MenuItem("Save all as csv (timestamp Lidar, Unix)##2"))
{
for (size_t i = 0; i < project_settings.session_file_names.size(); ++i)
{
Expand Down
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