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upgrade step 3 import benchmark #400

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Merged
JanuszBedkowski merged 7 commits into from
Mar 22, 2026
Merged

upgrade step 3 import benchmark #400

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88c383f
upgrade step 3 import benchmark
marcinmatecki Mar 20, 2026
7de16a4
update step3
marcinmatecki Mar 20, 2026
b77c679
upgrade step3
marcinmatecki Mar 20, 2026
62abd48
upgrade step3
marcinmatecki Mar 20, 2026
42726e5
upgrade step3
marcinmatecki Mar 20, 2026
97ab061
upgrade step3
marcinmatecki Mar 20, 2026
5067a69
fix win
marcinmatecki Mar 22, 2026
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146 changes: 131 additions & 15 deletions apps/multi_session_registration/multi_session_registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2183,6 +2183,124 @@ void settings_gui()
}
}

static bool open_import_popup = false;
static bool show_instruction = false;

ImGui::Dummy(ImVec2(0, 10));

if (ImGui::Button("Import Benchmark Output Folders"))
{
open_import_popup = true;
ImGui::OpenPopup("Import Benchmark");
}

if (ImGui::BeginPopupModal("Import Benchmark", NULL, ImGuiWindowFlags_AlwaysAutoResize))
{
ImGui::Text("Import benchmark sessions");
ImGui::Separator();
ImGui::SetNextWindowSize(ImVec2(740, 340), ImGuiCond_Once);
if (ImGui::Button("Instruction"))
{
show_instruction = !show_instruction;
}

ImGui::Dummy(ImVec2(0, 10));
if (ImGui::Button("Select Folder"))
{
const std::string algorithms[] = { "ct-icp", "glim", "super-lio", "dlio",
"i2ekf-lo", "superOdom", "lego-loam", "faster-lio",
"kiss-icp", "fast-lio", "lio-ekf", "genz-icp",
"point-lio", "ig-lio", "dlo", "lidar_odometry_ros_wrapper" };

std::vector<fs::path> missing;
std::unordered_map<std::string, std::string> algo_map;

for (const auto& algo : algorithms)
{
if (algo == "kiss-icp")
{
algo_map[algo] = "output_hdmapping-kiss";
}
else if (algo == "genz-icp")
{
algo_map[algo] = "output_hdmapping-genz";
}
else if (algo == "lidar_odometry_ros_wrapper")
{
algo_map[algo] = "output_hdmapping-lidar-odometry-ros";
}
else
{
algo_map[algo] = "output_hdmapping-" + algo;
}
}

fs::path path = fs::path(mandeye::fd::SelectFolder("Add sessions"));

for (const auto& algo : algorithms)
{
fs::path output_folder = path / algo / algo_map[algo];
fs::path session_file = output_folder / "session.json";

if (fs::is_directory(output_folder))
{
auto it =
std::find(project_settings.session_file_names.begin(), project_settings.session_file_names.end(), session_file);

if (it == project_settings.session_file_names.end())
{
std::cout << "Adding session file: '" << session_file << "'" << std::endl;
project_settings.session_file_names.push_back(session_file.string());
}
}
else
{
missing.push_back(output_folder);
}
}

for (const auto& miss : missing)
{
std::cout << miss << " doesn't exist" << std::endl;
}
}

ImGui::SameLine();

if (ImGui::Button("Close"))
{
ImGui::CloseCurrentPopup();
show_instruction = false;
}

if (show_instruction)
{
ImGui::BeginChild("InstructionChild", ImVec2(720, 300), true, ImGuiWindowFlags_HorizontalScrollbar);
ImGui::Separator();

ImGui::TextWrapped("Required folder structure:");

ImGui::Spacing();

ImGui::TextWrapped("Folders must follow the structure generated in benchmark-HDMapping-Orchestration (step 3):");
ImGui::TextWrapped("https://github.com/MapsHD/benchmark-HDMapping-Orchestration");

ImGui::Spacing();
ImGui::Separator();

ImGui::BulletText("chosen_folder/");
ImGui::BulletText(" ct-icp/output_hdmapping-ct-icp/session.json");
ImGui::BulletText(" glim/output_hdmapping-glim/session.json");
ImGui::BulletText(" kiss-icp/output_hdmapping-kiss/session.json");
ImGui::BulletText(" fast-lio/output_hdmapping-fast-lio/session.json");
ImGui::BulletText(" ... (same pattern for other algorithms)");

ImGui::Spacing();
ImGui::EndChild();
}

ImGui::EndPopup();
}
if (project_settings.session_file_names.size() > 0)
{
ImGui::Separator();
Expand Down Expand Up @@ -3278,10 +3396,7 @@ pose_tait_bryan_from_affine_matrix(m_src.inverse() * m_g);
continue;
}

outfile << "timestampLidar,x,y,z,"
<< "r00,r01,r02,"
<< "r10,r11,r12,"
<< "r20,r21,r22\n";
outfile << "timestampLidar,x,y,z," << "r00,r01,r02," << "r10,r11,r12," << "r20,r21,r22\n";

for (const auto& pc : session.point_clouds_container.point_clouds)
{
Expand Down Expand Up @@ -3336,8 +3451,7 @@ pose_tait_bryan_from_affine_matrix(m_src.inverse() * m_g);
continue;
}

outfile << "timestampUnix,x,y,z,"
<< "r00,r01,r02,r10,r11,r12,r20,r21,r22\n";
outfile << "timestampUnix,x,y,z," << "r00,r01,r02,r10,r11,r12,r20,r21,r22\n";

for (const auto& pc : session.point_clouds_container.point_clouds)
{
Expand Down Expand Up @@ -3388,8 +3502,7 @@ pose_tait_bryan_from_affine_matrix(m_src.inverse() * m_g);
continue;
}

outfile << "timestampLidar,timestampUnix,x,y,z,"
<< "r00,r01,r02,r10,r11,r12,r20,r21,r22\n";
outfile << "timestampLidar,timestampUnix,x,y,z," << "r00,r01,r02,r10,r11,r12,r20,r21,r22\n";

for (const auto& pc : session.point_clouds_container.point_clouds)
{
Expand Down Expand Up @@ -3822,17 +3935,20 @@ pose_tait_bryan_from_affine_matrix(m_src.inverse() * m_g);

if (ImGui::Button("Remove"))
{
for (size_t i = project_settings.session_file_names.size() - 1; i >= 0; i--)
for (size_t i = project_settings.session_file_names.size(); i > 0; --i)
{
if (session_marked_for_removal[i])
size_t idx = i - 1;

if (session_marked_for_removal[idx])
{
std::cout << "Removing session: " << project_settings.session_file_names[i] << std::endl;
project_settings.session_file_names.erase(project_settings.session_file_names.begin() + i);
if ((sessions.size() > 0) && i < sessions.size())
sessions.erase(sessions.begin() + i);
std::cout << "Removing session: " << project_settings.session_file_names[idx] << std::endl;

project_settings.session_file_names.erase(project_settings.session_file_names.begin() + idx);

if (idx < sessions.size())
sessions.erase(sessions.begin() + idx);
}
}

session_marked_for_removal.clear();

if (!sessions.empty())
Expand Down
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