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Merged
JanuszBedkowski merged 1 commit into from
Jan 17, 2026
Merged

Command line processing, ortho mode & others #314

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14 changes: 14 additions & 0 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 @@ -2311,6 +2311,20 @@ int main(int argc, char* argv[])

try
{
if (checkClHelp(argc, argv))
{
std::cout << winTitle << "\n\n"
<< "USAGE:\n"
<< std::filesystem::path(argv[0]).stem().string() << " <input_folder> <parameter_file> <output_folder> /?\n\n"
<< "where\n"
<< " <input_folder> Path where scan files are located (*.csv, *.laz, *.sn)\n"
<< " <parameter_file> Path to TOML parameter file (*.toml)\n"
<< " <output_folder> Path where processed session should be stored\n"
<< " -h, /h, --help, /? Show this help and exit\n\n";

return 0;
}

if (argc == 4) // runnning from command line
{
// Load parameters from file using original TomlIO class
Expand Down
69 changes: 12 additions & 57 deletions 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 @@ -53,10 +53,6 @@ namespace fs = std::filesystem;
ImVec4 pc_color = ImVec4(1.0f, 0.0f, 0.0f, 1.00f);
ImVec4 pc_color2 = ImVec4(0.0f, 0.0f, 1.0f, 1.00f);

float m_ortho_projection[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };

float m_ortho_gizmo_view[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };

std::vector<std::string> laz_files;
std::vector<std::string> csv_files;
std::vector<std::string> sn_files;
Expand Down Expand Up @@ -659,50 +655,7 @@ void display()
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);

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);

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

Eigen::Vector3d v_eye_t(-camera_ortho_xy_view_shift_x, camera_ortho_xy_view_shift_y, camera_mode_ortho_z_center_h + 10);
Eigen::Vector3d v_center_t(-camera_ortho_xy_view_shift_x, camera_ortho_xy_view_shift_y, camera_mode_ortho_z_center_h);
Eigen::Vector3d v(0, 1, 0);

TaitBryanPose pose_tb;
pose_tb.px = 0.0;
pose_tb.py = 0.0;
pose_tb.pz = 0.0;
pose_tb.om = 0.0;
pose_tb.fi = 0.0;
pose_tb.ka = -camera_ortho_xy_view_rotation_angle_deg * DEG_TO_RAD;
auto m = affine_matrix_from_pose_tait_bryan(pose_tb);

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());
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()));
std::copy(&lookat[0][0], &lookat[3][3], m_ortho_gizmo_view);

glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
updateOrthoView();

showAxes();

Expand Down Expand Up @@ -833,16 +786,18 @@ void display()
}
ImGui::EndDisabled();

ImGui::MenuItem("Orthographic", "key O", &is_ortho);
if (is_ortho)
if (ImGui::MenuItem("Orthographic", "key O", &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 (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)");
Expand Down
155 changes: 87 additions & 68 deletions apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,6 @@ namespace fs = std::filesystem;
ImVec4 pc_color = ImVec4(1.0f, 0.0f, 0.0f, 1.00f);
ImVec4 pc_color2 = ImVec4(0.0f, 0.0f, 1.0f, 1.00f);

float m_ortho_projection[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };

float m_ortho_gizmo_view[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };

struct AllData
{
std::vector<std::pair<double, double>> timestamps;
Expand Down Expand Up @@ -885,14 +881,8 @@ std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> get_mean_cov()
return mc;
}

void loadData()
void loadFiles(std::vector<std::string> input_file_names)
{
std::vector<std::string> input_file_names = mandeye::fd::OpenFileDialog("Load all files", mandeye::fd::All_Filter, true);

// no files selected, quit loading
if (input_file_names.empty())
return;

LidarOdometryParams params; // dummy for load_data function
params.save_calibration_validation = false;
params.filter_threshold_xy_inner = filter_threshold_xy_inner;
Expand All @@ -901,6 +891,10 @@ void loadData()
std::vector<std::vector<Point3Di>> pointsPerFile;
std::vector<std::tuple<std::pair<double, double>, FusionVector, FusionVector>> imu_data;

// no files selected, quit loading
if (input_file_names.empty())
return;

if (load_data(input_file_names, params, pointsPerFile, imu_data, false))
{
// clear possible previous data
Expand Down Expand Up @@ -1209,6 +1203,31 @@ void loadData()
}
}

void openFolder()
{
std::string input_folder_name;
std::vector<std::string> input_file_names;
input_folder_name = mandeye::fd::SelectFolder("Select Mandeye data folder");

std::cout << "Selected folder: '" << input_folder_name << std::endl;

if (fs::exists(input_folder_name))
{
for (const auto& entry : fs::directory_iterator(input_folder_name))
if (entry.is_regular_file())
input_file_names.push_back(entry.path().string());

loadFiles(input_file_names);
}
}

void openFiles()
{
std::vector<std::string> input_file_names = mandeye::fd::OpenFileDialog("Load all files", mandeye::fd::All_Filter, true);

loadFiles(input_file_names);
}

void imu_data_gui()
{
ImGui::Begin("IMU data");
Expand Down Expand Up @@ -1463,7 +1482,6 @@ void display()

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

updateCameraTransition();

Expand All @@ -1487,50 +1505,7 @@ void display()
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);

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);

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

Eigen::Vector3d v_eye_t(-camera_ortho_xy_view_shift_x, camera_ortho_xy_view_shift_y, camera_mode_ortho_z_center_h + 10);
Eigen::Vector3d v_center_t(-camera_ortho_xy_view_shift_x, camera_ortho_xy_view_shift_y, camera_mode_ortho_z_center_h);
Eigen::Vector3d v(0, 1, 0);

TaitBryanPose pose_tb;
pose_tb.px = 0.0;
pose_tb.py = 0.0;
pose_tb.pz = 0.0;
pose_tb.om = 0.0;
pose_tb.fi = 0.0;
pose_tb.ka = -camera_ortho_xy_view_rotation_angle_deg * DEG_TO_RAD;
auto m = affine_matrix_from_pose_tait_bryan(pose_tb);

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());
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()));
std::copy(&lookat[0][0], &lookat[3][3], m_ortho_gizmo_view);

glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
updateOrthoView();

//
/* glPointSize(point_size);
Expand Down Expand Up @@ -1722,10 +1697,25 @@ void display()
{
// if (!is_init)
{
if (ImGui::Button("Load data"))
loadData();
if (ImGui::Button("Open folder"))
openFolder();
if (ImGui::IsItemHovered())
ImGui::SetTooltip("Select session to open for analyze (Ctrl+O)");
ImGui::SetTooltip("Select folder containing files for analyze (Ctrl+O)");

ImGui::SameLine();

if (ImGui::ArrowButton("##menuArrow", ImGuiDir_Down))
ImGui::OpenPopup("OpenMenu");

if (ImGui::BeginPopup("OpenMenu"))
{
if (ImGui::MenuItem("Open files"))
openFiles();
if (ImGui::IsItemHovered())
ImGui::SetTooltip("Select files for analyze");

ImGui::EndPopup();
}

ImGui::SameLine();
ImGui::Dummy(ImVec2(20, 0));
Expand All @@ -1745,17 +1735,20 @@ void display()

ImGui::Separator();

ImGui::MenuItem("Orthographic", "key O", &is_ortho);
if (is_ortho)
if (ImGui::MenuItem("Orthographic", "key O", &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 (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)");

Expand Down Expand Up @@ -1953,8 +1946,34 @@ int main(int argc, char* argv[])
{
try
{
if (checkClHelp(argc, argv))
{
std::cout << winTitle << "\n\n"
<< "USAGE:\n"
<< std::filesystem::path(argv[0]).stem().string() << " <input_folder> /?\n\n"
<< "where\n"
<< " <input_folder> Path where scan files are located (*.csv, *.laz, *.sn)\n"
<< " -h, /h, --help, /? Show this help and exit\n\n";

return 0;
}

initGL(&argc, argv, winTitle, display, mouse);

if (argc == 2)
{
std::vector<std::string> input_file_names;

if (fs::exists(argv[1]))
{
for (const auto& entry : fs::directory_iterator(argv[1]))
if (entry.is_regular_file())
input_file_names.push_back(entry.path().string());

loadFiles(input_file_names);
}
}

glutMainLoop();

ImGui_ImplOpenGL2_Shutdown();
Expand Down
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