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Simple changes around raw viewer #331

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14 changes: 1 addition & 13 deletions apps/lidar_odometry_step_1/lidar_odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@ bool load_data(
bool debugMsg)
{
std::sort(input_file_names.begin(), input_file_names.end());

std::vector<std::string> csv_files, laz_files;
std::string sn_file;
std::string calibrationFile;
Expand Down Expand Up @@ -81,11 +80,6 @@ bool load_data(
{
std::cout << "\n!!! there is no CSV file for: " << laz_files[i] << " !!! \n\n";

if (i < (laz_files.size() - 1))
{
std::cout << "!!! can't continue with missmatched middle file pairs.. !!!\n\n";
return false;
}
}
}

Expand All @@ -107,12 +101,6 @@ bool load_data(
if (!found)
{
std::cout << "\n!!! there is no LAZ file for: " << csv_files[i] << " !!! \n\n";

if (i < (csv_files.size() - 1))
{
std::cout << "!!! can't continue with missmatched middle file pairs.. !!!\n\n";
return false;
}
}
}

Expand All @@ -121,7 +109,7 @@ bool load_data(
std::string working_directory = fs::path(input_file_names.front()).parent_path().string();

if (laz_files.size() != csv_files.size())
std::cout << "!!! file number issue. continuing but ignoring missmatched last file pair.. !!!\n" << std::endl;
std::cout << "!!! file number issue. continuing can lead to incomplete data!!!\n" << std::endl;

// check if folder exists!
if (!fs::exists(working_directory))
Expand Down
4 changes: 2 additions & 2 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.cpp
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Expand Up @@ -514,9 +514,9 @@ std::vector<std::tuple<std::pair<double, double>, FusionVector, FusionVector>> l
myfile.close();
}
}
} catch (...)
} catch (const std::exception& e)
{
std::cout << "load_imu error for file: '" << imu_file << "'" << std::endl;
std::cout << "load_imu error for file: '" << imu_file << "'" << e.what() << std::endl;
// return all_data;
}

Expand Down
30 changes: 12 additions & 18 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 @@ -120,7 +120,7 @@ std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> mean_cov;
bool show_mean_cov = false;
bool show_rgd_nn = false;
bool show_imu_data = false;

bool show_cameras_data = false;
bool is_settings_gui = false;

namespace photos
Expand Down Expand Up @@ -1351,21 +1351,6 @@ void settings_gui()

ImGui::PopItemWidth();

if (index_rendered_points_local < 0)
index_rendered_points_local = 0;

if (index_rendered_points_local >= all_data.size())
index_rendered_points_local = all_data.size() - 1;

if (laz_files.size() > 0)
{
if (index_rendered_points_local >= 0 && index_rendered_points_local < indexes_to_filename.size())
{
double ts = all_data[index_rendered_points_local].points_local[0].timestamp; // * 1e9;
render_nearest_photo(ts);
}
}

ImGui::BeginDisabled(!is_init);
if (ImGui::Button("Save point cloud"))
{
Expand Down Expand Up @@ -1715,6 +1700,14 @@ void display()
index_rendered_points_local = all_data.size() - 1;
}

// ask to load the nearest photo
if (show_cameras_data && index_rendered_points_local >= 0 && index_rendered_points_local < indexes_to_filename.size())
{
double ts = all_data[index_rendered_points_local].points_local[0].timestamp; // * 1e9;
render_nearest_photo(ts);
}


if (ImGui::BeginMainMenuBar())
{
{
Expand Down Expand Up @@ -1798,6 +1791,7 @@ void display()
ImGui::SetTooltip("Show the mean and covariance ellipsoid representation");

ImGui::MenuItem("Show IMU data", nullptr, &show_imu_data);
ImGui::MenuItem("Show cameras data", nullptr, &show_cameras_data);
ImGui::EndDisabled();

ImGui::Separator();
Expand Down Expand Up @@ -1901,7 +1895,7 @@ void display()
if (compass_ruler)
drawMiniCompassWithRuler();

if (photos::photo_texture_cam0)
if (show_cameras_data && photos::photo_texture_cam0)
{
if (ImGui::Begin("CAM0"))
{
Expand Down Expand Up @@ -1994,7 +1988,7 @@ int main(int argc, char* argv[])

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

Expand Down
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