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Fixes and updates #269

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

Fixes and updates #269

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74 changes: 37 additions & 37 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 @@ -681,7 +681,7 @@ void save_results(bool info, double elapsed_seconds)
}
}

void lidar_odometry_gui()
void project_gui()
{
if (ImGui::Begin("full_lidar_odometry_gui", &full_lidar_odometry_gui))
{
Expand Down Expand Up @@ -1620,40 +1620,37 @@ void save_results(bool info, double elapsed_seconds, std::string &working_direct
}

void display()
{
updateCameraTransition();

ImGuiIO &io = ImGui::GetIO();

{
ImGuiIO& io = ImGui::GetIO();
glViewport(0, 0, (GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);

glClearColor(bg_color.x * bg_color.w, bg_color.y * bg_color.w, bg_color.z * bg_color.w, bg_color.w);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);

glMatrixMode(GL_PROJECTION);
glLoadIdentity();
float ratio = float(io.DisplaySize.x) / float(io.DisplaySize.y);

glClearColor(params.clear_color.x * params.clear_color.w, params.clear_color.y * params.clear_color.w, params.clear_color.z * params.clear_color.w, params.clear_color.w);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
updateCameraTransition();

reshape((GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);
Eigen::Affine3f viewTranslation = Eigen::Affine3f::Identity();
viewTranslation.translate(rotation_center);
Eigen::Affine3f viewLocal = Eigen::Affine3f::Identity();
viewLocal.translate(Eigen::Vector3f(translate_x, translate_y, translate_z));

viewLocal = Eigen::Affine3f::Identity();

viewLocal.translate(rotation_center);

viewLocal.translate(Eigen::Vector3f(translate_x, translate_y, translate_z));
if (!lock_z)
viewLocal.rotate(Eigen::AngleAxisf(rotate_x * DEG_TO_RAD, Eigen::Vector3f::UnitX()));
else
viewLocal.rotate(Eigen::AngleAxisf(-90.0 * DEG_TO_RAD, Eigen::Vector3f::UnitX()));
viewLocal.rotate(Eigen::AngleAxisf(rotate_y * DEG_TO_RAD, Eigen::Vector3f::UnitZ()));

Eigen::Affine3f viewTranslation2 = Eigen::Affine3f::Identity();
viewTranslation2.translate(-rotation_center);

Eigen::Affine3f result = viewTranslation * viewLocal * viewTranslation2;
viewLocal.translate(-rotation_center);

glMatrixMode(GL_MODELVIEW);
glLoadMatrixf(result.matrix().data());
glLoadMatrixf(viewLocal.matrix().data());

showAxes();

Expand Down Expand Up @@ -2117,6 +2114,8 @@ void display()

ImGui::ColorEdit3("Background color", (float *)&params.clear_color, ImGuiColorEditFlags_NoInputs);

bg_color = params.clear_color;

ImGui::EndMenu();
}
if (ImGui::IsItemHovered())
Expand All @@ -2132,32 +2131,15 @@ void display()
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImGui::GetStyleColorVec4(ImGuiCol_HeaderHovered));
ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImGui::GetStyleColorVec4(ImGuiCol_Header));
if (ImGui::SmallButton("Info"))
{
info_gui = !info_gui;
}

ImGui::PopStyleVar(2);
ImGui::PopStyleColor(3);

ImGui::EndMainMenuBar();
}
}

if (full_lidar_odometry_gui)
{
lastPar = 0;

lidar_odometry_gui();
}

if (loRunning)
progress_window();

if (info_gui)
{
infoLines[infoLines.size() - 2] = "It saves session file in " + working_directory + "\\lidar_odometry_result_*";
info_window(infoLines, appShortcuts, &info_gui);
}

if (initial_transformation_gizmo)
{
ImGuiIO &io = ImGui::GetIO();
Expand Down Expand Up @@ -2226,8 +2208,26 @@ void display()
stretch_gizmo_m(3, 3) = m_gizmo[15];
}

if (full_lidar_odometry_gui)
{
lastPar = 0;

project_gui();
}

if (loRunning)
progress_window();

cor_window();

if (info_gui)
{
infoLines[infoLines.size() - 2] = "It saves session file in " + working_directory + "\\lidar_odometry_result_*";
info_window(infoLines, appShortcuts);
}

if (compass_ruler)
drawMiniCompassWithRuler(viewLocal, fabs(translate_z), params.clear_color);
drawMiniCompassWithRuler();

ImGui::Render();
ImGui_ImplOpenGL2_RenderDrawData(ImGui::GetDrawData());
Expand Down
104 changes: 54 additions & 50 deletions apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -626,24 +626,47 @@ void project_gui()

void display()
{
updateCameraTransition();

ImGuiIO& io = ImGui::GetIO();

glViewport(0, 0, (GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);

glClearColor(bg_color.x * bg_color.w, bg_color.y * bg_color.w, bg_color.z * bg_color.w, bg_color.w);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);

glMatrixMode(GL_PROJECTION);
glLoadIdentity();
float ratio = float(io.DisplaySize.x) / float(io.DisplaySize.y);

if (is_ortho)
updateCameraTransition();

viewLocal = Eigen::Affine3f::Identity();

if (!is_ortho)
{
reshape((GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);

viewLocal.translate(rotation_center);

viewLocal.translate(Eigen::Vector3f(translate_x, translate_y, translate_z));
if (!lock_z)
viewLocal.rotate(Eigen::AngleAxisf(rotate_x * DEG_TO_RAD, Eigen::Vector3f::UnitX()));
else
viewLocal.rotate(Eigen::AngleAxisf(-90.0 * DEG_TO_RAD, Eigen::Vector3f::UnitX()));
viewLocal.rotate(Eigen::AngleAxisf(rotate_y * DEG_TO_RAD, Eigen::Vector3f::UnitZ()));

viewLocal.translate(-rotation_center);

glLoadMatrixf(viewLocal.matrix().data());
}
else
{
glOrtho(-camera_ortho_xy_view_zoom, camera_ortho_xy_view_zoom,
-camera_ortho_xy_view_zoom / ratio,
camera_ortho_xy_view_zoom / ratio, -100000, 100000);
-camera_ortho_xy_view_zoom / ratio,
camera_ortho_xy_view_zoom / ratio, -100000, 100000);

glm::mat4 proj = glm::orthoLH_ZO<float>(-camera_ortho_xy_view_zoom, camera_ortho_xy_view_zoom,
-camera_ortho_xy_view_zoom / ratio,
camera_ortho_xy_view_zoom / ratio, -100, 100);
-camera_ortho_xy_view_zoom / ratio,
camera_ortho_xy_view_zoom / ratio, -100, 100);

std::copy(&proj[0][0], &proj[3][3], m_ortho_projection);

Expand All @@ -663,47 +686,13 @@ void display()
Eigen::Vector3d v_t = m * v;

gluLookAt(v_eye_t.x(), v_eye_t.y(), v_eye_t.z(),
v_center_t.x(), v_center_t.y(), v_center_t.z(),
v_t.x(), v_t.y(), v_t.z());
v_center_t.x(), v_center_t.y(), v_center_t.z(),
v_t.x(), v_t.y(), v_t.z());
glm::mat4 lookat = glm::lookAt(glm::vec3(v_eye_t.x(), v_eye_t.y(), v_eye_t.z()),
glm::vec3(v_center_t.x(), v_center_t.y(), v_center_t.z()),
glm::vec3(v_t.x(), v_t.y(), v_t.z()));
glm::vec3(v_center_t.x(), v_center_t.y(), v_center_t.z()),
glm::vec3(v_t.x(), v_t.y(), v_t.z()));
std::copy(&lookat[0][0], &lookat[3][3], m_ortho_gizmo_view);
}

glClearColor(bg_color.x * bg_color.w, bg_color.y * bg_color.w, bg_color.z * bg_color.w, bg_color.w);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);

Eigen::Affine3f viewLocal = Eigen::Affine3f::Identity();

if (!is_ortho)
{
reshape((GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);

Eigen::Affine3f viewTranslation = Eigen::Affine3f::Identity();
viewTranslation.translate(rotation_center);
Eigen::Affine3f viewLocal = Eigen::Affine3f::Identity();
viewLocal.translate(Eigen::Vector3f(translate_x, translate_y, translate_z));

if (!lock_z)
viewLocal.rotate(Eigen::AngleAxisf(rotate_x * DEG_TO_RAD, Eigen::Vector3f::UnitX()));
else
viewLocal.rotate(Eigen::AngleAxisf(-90.0 * DEG_TO_RAD, Eigen::Vector3f::UnitX()));
viewLocal.rotate(Eigen::AngleAxisf(rotate_y * DEG_TO_RAD, Eigen::Vector3f::UnitZ()));

Eigen::Affine3f viewTranslation2 = Eigen::Affine3f::Identity();
viewTranslation2.translate(-rotation_center);

Eigen::Affine3f result = viewTranslation * viewLocal * viewTranslation2;

glLoadMatrixf(result.matrix().data());
/* glTranslatef(translate_x, translate_y, translate_z);
glRotatef(rotate_x, 1.0, 0.0, 0.0);
glRotatef(rotate_y, 0.0, 0.0, 1.0);*/
}
else
{
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
Expand Down Expand Up @@ -838,6 +827,20 @@ void display()
}
ImGui::EndDisabled();

ImGui::MenuItem("Orthographic", "key O", &is_ortho);
if (is_ortho)
{
new_rotation_center = rotation_center;
new_rotate_x = 0.0;
new_rotate_y = 0.0;
new_translate_x = translate_x;
new_translate_y = translate_y;
new_translate_z = translate_z;
camera_transition_active = true;
}
if (ImGui::IsItemHovered())
ImGui::SetTooltip("Switch between perspective view (3D) and orthographic view (2D/flat)");

ImGui::MenuItem("Show grid", "key G", &show_grid);

ImGui::MenuItem("Show axes", "key X", &show_axes);
Expand Down Expand Up @@ -875,20 +878,21 @@ void display()
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImGui::GetStyleColorVec4(ImGuiCol_HeaderHovered));
ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImGui::GetStyleColorVec4(ImGuiCol_Header));
if (ImGui::SmallButton("Info"))
{
info_gui = !info_gui;
}

ImGui::PopStyleVar(2);
ImGui::PopStyleColor(3);


ImGui::EndMainMenuBar();
}

info_window(infoLines, appShortcuts, &info_gui);
cor_window();

info_window(infoLines, appShortcuts);

if (compass_ruler)
drawMiniCompassWithRuler(viewLocal, fabs(translate_z), bg_color);
drawMiniCompassWithRuler();

project_gui();

Expand Down
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