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Merged
JanuszBedkowski merged 1 commit into from
Dec 4, 2025
Merged

Fixes and improvements #268

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697 changes: 328 additions & 369 deletions apps/lidar_odometry_step_1/lidar_odometry.cpp
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25 changes: 5 additions & 20 deletions apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,7 @@ static const std::vector<ShortcutEntry> appShortcuts = {
{"", "Ctrl+Q", ""},
{"", "R", ""},
{"", "Ctrl+R", ""},
{"", "Shift+R", ""},
{"", "S", ""},
{"", "Ctrl+S", ""},
{"", "Ctrl+Shift+S", ""},
Expand Down Expand Up @@ -125,6 +126,7 @@ static const std::vector<ShortcutEntry> appShortcuts = {
{"", "Right click + drag", "n"},
{"", "Scroll", ""},
{"", "Shift + scroll", ""},
{"", "Shift + drag", ""},
{"", "Ctrl + left click", ""},
{"", "Ctrl + right click", ""},
{"", "Ctrl + middle click", ""} };
Expand Down Expand Up @@ -638,9 +640,7 @@ void step2(const std::atomic<bool> &loPause)
{
double ts_failure = 0.0;
if (compute_step_2(worker_data, params, ts_failure, loProgress, loPause, full_debug_messages))
{
step_2_done = true;
}
else
{
for (size_t fileNo = 0; fileNo < csv_files.size(); fileNo++)
Expand All @@ -655,9 +655,7 @@ void step2(const std::atomic<bool> &loPause)
if (imu.size() > 0)
{
if (std::get<0>(imu[imu.size() - 1]).first > ts_failure)
{
break;
}
}
std::cout << "file: '" << imufn << "' [OK]" << std::endl;
}
Expand Down Expand Up @@ -1459,7 +1457,7 @@ void progress_window()
{
ImGui::Begin("Progress", nullptr, ImGuiWindowFlags_AlwaysAutoResize);

ImGui::Text(("Working directory: '" + working_directory + "'").c_str());
ImGui::Text(("Working directory:\n'" + working_directory + "'").c_str());

// Calculate elapsed time and ETA
auto currentTime = std::chrono::system_clock::now();
Expand Down Expand Up @@ -1507,9 +1505,8 @@ void progress_window()
if (!loPause)
{
if (ImGui::Button("Pause"))
{
loPause.store(true);
}

if (ImGui::IsItemHovered())
{
ImGui::BeginTooltip();
Expand All @@ -1521,9 +1518,7 @@ void progress_window()
else
{
if (ImGui::Button("Resume"))
{
loPause.store(false);
}
}
ImGui::SameLine();
ImGui::Text("Also check console for progress..");
Expand Down Expand Up @@ -1579,9 +1574,7 @@ void openData()
loThread.detach();
}
else //no data loaded
{
loRunning = false;
}
}

void step1(const std::string &folder,
Expand Down Expand Up @@ -1680,9 +1673,7 @@ void display()
if (show_covs)
{
for (const auto &b : params.buckets_indoor)
{
draw_ellipse(b.second.cov, b.second.mean, Eigen::Vector3f(0.0f, 0.0f, 1.0f), 3);
}
}

#if 0 // ToDo
Expand Down Expand Up @@ -1724,9 +1715,7 @@ void display()
glColor3f(1, 0, 0);
glBegin(GL_POINTS);
for (int i = 0; i < params.reference_points.size(); i += dec_reference_points)
{
glVertex3f(params.reference_points[i].point.x(), params.reference_points[i].point.y(), params.reference_points[i].point.z());
}
glEnd();
}

Expand Down Expand Up @@ -1762,9 +1751,7 @@ void display()
for (const auto &wd : worker_data)
{
for (const auto &it : wd.intermediate_trajectory)
{
glVertex3f(it(0, 3), it(1, 3), it(2, 3));
}
}
glEnd();
glPointSize(1);
Expand Down Expand Up @@ -1796,9 +1783,7 @@ void display()
glColor3f(1, 0, 0);
glBegin(GL_POINTS);
for (const auto &b : params.reference_buckets)
{
glVertex3f(b.second.mean.x(), b.second.mean.y(), b.second.mean.z());
}
glEnd();
}

Expand Down Expand Up @@ -2039,7 +2024,7 @@ void display()
toml_io.LoadParametersFromTomlFile(input_file_names[0], params);
std::cout << "Parameters loaded from: " << input_file_names[0] << std::endl;
}
catch (const std::exception &e)
catch (const std::exception& e)
{
std::cerr << "Error loading TOML file: " << e.what() << std::endl;
}
Expand Down
33 changes: 3 additions & 30 deletions apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1510,13 +1510,9 @@ void optimize_lidar_odometry(std::vector<Point3Di> &intermediate_points,
};

if (multithread)
{
std::for_each(std::execution::par_unseq, std::begin(intermediate_points), std::end(intermediate_points), hessian_fun_indoor);
}
else
{
std::for_each(std::begin(intermediate_points), std::end(intermediate_points), hessian_fun_indoor);
}

if (ablation_study_use_hierarchical_rgd)
{
Expand All @@ -1525,42 +1521,34 @@ void optimize_lidar_odometry(std::vector<Point3Di> &intermediate_points,
const auto hessian_fun_outdoor = [&](const Point3Di &intermediate_points_i)
{
if (intermediate_points_i.point.norm() < 5.0 || intermediate_points_i.point.norm() > max_distance) // ToDo
{
return;
}

Eigen::Vector3d point_global = intermediate_trajectory[intermediate_points_i.index_pose] * intermediate_points_i.point;
auto index_of_bucket = get_rgd_index(point_global, b_outdoor);

auto bucket_it = buckets_outdoor.find(index_of_bucket);
// no bucket found
if (bucket_it == buckets_outdoor.end())
{
return;
}

auto &this_bucket = bucket_it->second;

const Eigen::Matrix3d &infm = this_bucket.cov.inverse();
const double threshold = 100000.0;

if ((infm.array() > threshold).any())
{
return;
}

if ((infm.array() < -threshold).any())
{
return;
}

if (ablation_study_use_view_point_and_normal_vectors)
{
// check nv
Eigen::Vector3d &nv = this_bucket.normal_vector;
Eigen::Vector3d viewport = intermediate_trajectory[intermediate_points_i.index_pose].translation();
if (nv.dot(viewport - this_bucket.mean) < 0)
{
return;
}
}

const Eigen::Affine3d &m_pose = intermediate_trajectory[intermediate_points_i.index_pose];
Expand Down Expand Up @@ -1617,32 +1605,23 @@ void optimize_lidar_odometry(std::vector<Point3Di> &intermediate_points,
};

if (multithread)
{
std::for_each(std::execution::par_unseq, std::begin(intermediate_points), std::end(intermediate_points), hessian_fun_outdoor);
}
else
{
std::for_each(std::begin(intermediate_points), std::end(intermediate_points), hessian_fun_outdoor);
}
}

std::vector<std::pair<int, int>> odo_edges;
for (size_t i = 1; i < intermediate_trajectory.size(); i++)
{
odo_edges.emplace_back(i - 1, i);
}

std::vector<TaitBryanPose> poses;
std::vector<TaitBryanPose> poses_desired;

for (size_t i = 0; i < intermediate_trajectory.size(); i++)
{
poses.push_back(pose_tait_bryan_from_affine_matrix(intermediate_trajectory[i]));
}

for (size_t i = 0; i < intermediate_trajectory_motion_model.size(); i++)
{
poses_desired.push_back(pose_tait_bryan_from_affine_matrix(intermediate_trajectory_motion_model[i]));
}

for (size_t i = 0; i < odo_edges.size(); i++)
{
Expand Down Expand Up @@ -1804,12 +1783,8 @@ void optimize_lidar_odometry(std::vector<Point3Di> &intermediate_points,
Eigen::SparseMatrix<double> x = solver.solve(AtPB);
std::vector<double> h_x;
for (int k = 0; k < x.outerSize(); ++k)
{
for (Eigen::SparseMatrix<double>::InnerIterator it(x, k); it; ++it)
{
h_x.push_back(it.value());
}
}

delta = 1000000.0;
if (h_x.size() == 6 * intermediate_trajectory.size())
Expand Down Expand Up @@ -1843,9 +1818,7 @@ void optimize_lidar_odometry(std::vector<Point3Di> &intermediate_points,
}
delta = 0.0;
for (int i = 0; i < h_x.size(); i++)
{
delta += sqrt(h_x[i] * h_x[i]);
}
}
return;
}
Expand Down
2 changes: 1 addition & 1 deletion apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ std::vector<std::string> infoLines = {
};

//App specific shortcuts (using empty dummy until needed)
std::vector<ShortcutEntry> appShortcuts(78, { "", "", "" });
std::vector<ShortcutEntry> appShortcuts(80, { "", "", "" });

#define SAMPLE_PERIOD (1.0 / 200.0)
namespace fs = std::filesystem;
Expand Down
41 changes: 39 additions & 2 deletions apps/mandeye_single_session_viewer/mandeye_single_session_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ static const std::vector<ShortcutEntry> appShortcuts = {
{"", "Ctrl+Q", ""},
{"", "R", ""},
{"", "Ctrl+R", ""},
{"", "Shift+R", ""},
{"", "S", ""},
{"", "Ctrl+S", ""},
{"", "Ctrl+Shift+S", ""},
Expand Down Expand Up @@ -121,6 +122,7 @@ static const std::vector<ShortcutEntry> appShortcuts = {
{"", "Right click + drag", "n"},
{"", "Scroll", ""},
{"", "Shift + scroll", ""},
{"", "Shift + drag", ""},
{"", "Ctrl + left click", ""},
{"", "Ctrl + right click", ""},
{"", "Ctrl + middle click", ""}
Expand Down Expand Up @@ -151,6 +153,7 @@ int oldcolorScheme = 0;
bool usePose = false;

Session session;
bool session_loaded = false;

//built in console output redirection to imgui window
///////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -695,7 +698,7 @@ void openSession()
std::string newTitle = winTitle + " - " + truncPath(session_file_name);
glutSetWindowTitle(newTitle.c_str());

session.load(fs::path(session_file_name).string(), false, 0.0, 0.0, 0.0, false);
session_loaded = session.load(fs::path(session_file_name).string(), false, 0.0, 0.0, 0.0, false);
index_rendered_points_local = 0;

if (gl_useVBOs)
Expand Down Expand Up @@ -1255,7 +1258,41 @@ void mouse(int glut_button, int state, int x, int y)
if (!io.WantCaptureMouse)
{
if ((glut_button == GLUT_MIDDLE_BUTTON || glut_button == GLUT_RIGHT_BUTTON) && state == GLUT_DOWN && io.KeyCtrl)
setNewRotationCenter(x, y);
{
if (session_loaded)
{
const auto laser_beam = GetLaserBeam(x, y);
double min_distance = std::numeric_limits<double>::max();

for (int j = 0; j < session.point_clouds_container.point_clouds[index_rendered_points_local].points_local.size(); j++)
{
auto vp = session.point_clouds_container.point_clouds[index_rendered_points_local].points_local[j];

if (usePose == true)
vp = session.point_clouds_container.point_clouds[index_rendered_points_local].m_pose * vp;

double dist = distance_point_to_line(vp, laser_beam);

if (dist < min_distance && dist < 0.1)
{
min_distance = dist;

new_rotation_center.x() = vp.x();
new_rotation_center.y() = vp.y();
new_rotation_center.z() = vp.z();
}
}

new_rotate_x = rotate_x;
new_rotate_y = rotate_y;
new_translate_x = -new_rotation_center.x();
new_translate_y = -new_rotation_center.y();
new_translate_z = translate_z;
camera_transition_active = true;
}
else
setNewRotationCenter(x, y);
}

if (state == GLUT_DOWN)
mouse_buttons |= 1 << glut_button;
Expand Down
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