Introduce coloring to HDmapping - #476
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We compile automatic jacoians (24 k chars headers) without debug symbols.
pair_wise_iterative_closest_point.cpp stayed in CORE_BASE_SOURCES while pose_graph_loop_closure.cpp (which calls PairWiseICP::compute) moved to CORE_MATH_SOURCES, splitting a symbol and its only definition across two static libs with a link-order dependency in the wrong direction. This broke linking for any executable that pulls in PoseGraphLoopClosure without referencing PairWiseICP directly, e.g. multi_view_tls_registration_step_2. pair_wise_iterative_closest_point.cpp also includes an auto-generated Jacobian header, so it belongs in core_math anyway. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
pair_wise_iterative_closest_point.cpp (moved into core_math in the previous commit) calls get_rgd_index_3d(), which lived in hash_utils.cpp under CORE_BASE_SOURCES -- reintroducing the same cross-archive circular dependency, just in the opposite direction (core_math needing a symbol from core/core_no_gui instead of the other way around). Nothing else in CORE_BASE_SOURCES/CORE_GUI_SOURCES calls into core_math, so moving hash_utils.cpp there too makes the dependency one-directional again (core/core_no_gui -> core_math, never the reverse). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
…lors Ports the three raylib/ImGui tools from the sibling mandeye-colors repo as new apps (camera_lidar_calibration, camera_lidar_trajectory_viewer, camera_lidar_intrinsics_calib), backed by a new calib_core static library for their shared non-GUI logic (camera projection math, LAS/LAZ loading, trajectory CSV parsing, CLI args). Reuses HDMapping's existing raylib/ imgui_raylib/rlimgui/Eigen/LASzip/OpenCV/json wiring instead of vendoring mandeye-colors' own duplicate copies of those dependencies. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
All three text fields that take a file or directory path (image, point cloud, intrinsics, calibration, session/CAMERA_0 dirs, export/ROS/COLMAP output paths) now have a "Browse..." button backed by portable-file-dialogs, matching the mandeye::fd wrapper core already uses elsewhere in HDMapping. Implemented as calib_core's own calib::fd (rather than reusing core/include/Core/pfd_wrapper.hpp directly) since that wrapper only builds into the GUI-enabled `core` target, and linking `core` here would pull in core_math/session/SLAM code these apps otherwise don't depend on -- portable-file-dialogs itself is a single vendored header with no dependency on `core`, so wrapping it directly in calib_core is cheap. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
… apps Re-ports camera_lidar_trajectory_viewer's TrajectoryViewer.cpp from mandeye-colors' mp/roi branch (the initial import was mistakenly based on master, before the ROI work landed there): adds a Roi struct (calib_core's Camera.h), SLERP pose interpolation instead of nearest-neighbor lookups, distortion-aware point projection, a "Geometry" coloring strategy (closest camera by depth) alongside the existing temporal one, ROI-filtered colorization with a Camera-ID/In-ROI render mode and an ROI overlay on the image preview, and colored/uncolored point-count stats. Also fixes three real bugs surfaced by manually running the apps: - Fixed-size windows (1400x900 etc.) could be taller than the screen once the OS menu bar + title bar are accounted for, silently pushing the top of the control panel off-screen. Added fitWindowToScreen() (monitor-aware resize/reposition) and SetWindowMinSize() to all three apps. - fitWindowToScreen() itself was buggy: GetMonitorWidth/Height return the monitor's native pixel resolution while GetScreenWidth/Height and SetWindowSize/SetWindowPosition operate in logical points, a 2x mismatch on Retina displays that pushed the window mostly off-screen. Fixed by dividing by GetWindowScaleDPI(). Also added a PollInputEvents() call so raylib's cached mouse/window geometry is refreshed before rlImGuiSetup() reads it. - Several ImGui widgets with trailing labels (InputInt, Combo, InputDouble) were wrapped in PushItemWidth(-1), which gives the widget box the entire row and clips the label off the right edge of the panel. Scoped a narrower width around each affected widget. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
calib::fd (calib_core/src/FileDialog.cpp) was a byte-for-byte duplicate of core's mandeye::fd (core/src/pfd_wrapper.cpp), kept separate only because pfd_wrapper.cpp was compiled straight into the monolithic `core` target, which drags in core_math/PROJ/spdlog/vqf/Fusion/plycpp/WGS84toCartesian/ imgui/ImGuizmo/freeglut -- none of which file dialogs need. Split pfd_wrapper.cpp out into its own minimal `core_pfd` static lib (portable-file-dialogs + std only). `core` links it publicly so all existing apps keep working unchanged via #include <Core/pfd_wrapper.hpp>. The three camera_lidar_* apps now link core_pfd directly and use mandeye::fd instead of their own copy; calib_core drops FileDialog entirely, since file dialogs are a GUI concern rather than calibration logic. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
Window titles now follow the project-wide "<Name> " + HDMAPPING_VERSION_STRING convention used by every other app (hd_mapper, manual_color, trajectory viewers, etc.) instead of bare, unversioned strings -- these three apps had neither the version suffix nor the <HDMapping/Version.hpp> include. Also document the three tools in README.md, which didn't mention them at all despite covering every other app in the suite. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
…_lidar_* and step2 UX/code harmonization across camera_lidar_calibration, camera_lidar_trajectory_viewer, camera_lidar_intrinsics_calib, and multi_view_tls_registration_step_2: - Top menu bars (File/View/Help) replacing ad-hoc side-panel Browse buttons, matching the convention used by the rest of HDMapping's apps. - Keyboard shortcuts for File actions and view toggles, following each file's existing shortcut-handling idiom (ImGui::IsKeyPressed+io.AddKeyEvent for the calibration app, raylib IsKeyPressed for the trajectory viewer). Chords that collided in meaning with step2's existing bindings were re-lettered (Ctrl+L->Ctrl+Shift+C, Ctrl+E->Ctrl+S, bare F->bare V); Ctrl+O and bare C/P were kept aligned since they already matched step2's intent. - New raylib_widgets/ static lib (raylib+imgui_raylib only, no Eigen/core coupling) holding code that was duplicated or near-duplicated across these apps: the compass/ruler 3D overlay, the DPI-aware fitWindowToScreen window positioning (previously byte-identical in 3 apps; step2's own inline copy lacked the DPI-scale correction, now fixed), and a simplified ShortcutEntry/ShowShortcutsTable shortcuts-help table. The trajectory viewer gets an in-app shortcuts reference (Help menu) for the first time. - Merging step2's two-list shortcut-table indirection (rl_utils.cpp's generic scaffold + multi_view_tls_registration_gui.cpp's per-app overrides) into one list surfaced two pre-existing bugs, now fixed: a missing "Ctrl+J" entry was silently shifting every shortcut description after "J" by one row, and "Right click + drag" had a stray "n" instead of its real "camera pan" text. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DiH2pr8ruiHu6k7Y2wSXS2
…amera raylib_widgets::OrbitCamera (shared with camera_lidar_calibration) gains an eased target transition, ground-plane ray picking (Ctrl+Right-click or middle-click), a shared "Center of rotation" dialog, and a 3D crosshair marker at the current center -- porting multi_view_tls_registration's center-of-rotation UX without replacing OrbitCamera's Camera3D-based rendering pipeline. camera_lidar_trajectory_viewer's local Orbit struct is replaced by the shared OrbitCamera, and its State struct is renamed to AppState. Also finishes/fixes the in-progress raylib_widgets refactor found along the way: builds OrbitCamera.cpp into the library (was listed on disk but never compiled), removes camera_lidar_calibration's now-duplicate OrbitCamera definitions (would have been a link error once OrbitCamera.cpp actually built), and reverts an unfinished move of multi_view_tls_registration's rl_utils.h/.cpp into raylib_widgets -- it stays local to that app per its own "deliberately not shared" comment, and the move had left TrajectoryViewer.cpp with a duplicate app_state definition (compile error) plus missing Core/Eigen include paths. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
…ests getInterpolatedPose was byte-for-byte duplicated between lidar_odometry_utils.h/.cpp (compiled into lidar_odometry_step_1, drag_folder_with_mandeye_data_and_drop_here-precision_forestry, mandeye_compare_trajectories, and multi_view_tls_registration_step_2) and camera_lidar_trajectory_viewer's TrajectoryViewer.cpp. Moved it to shared/include/HDMapping/PoseInterpolation.h -- header-only, Eigen/std-only, in the global namespace like the original, so it needs no new include dir or library link anywhere (shared/include is already on every target's include path via the root CMakeLists.txt). Also adds this project's first unit test infrastructure: doctest (vendored as its own 3rdparty/doctest, MIT) since neither GoogleTest nor Catch2 is available offline in this repo (the only existing GTest reference, 3rdparty/manif/test/gtest, fetches it live from GitHub), gated behind a new opt-in `-DBUILD_TESTING=ON` option so it doesn't affect the default build. shared/tests/test_pose_interpolation.cpp exercises this "very important function" and caught a real, pre-existing bug in the process: the translation lerp adds its delta onto the *later* sample instead of the earlier one (`it_next.translation + diff * res` instead of `it_lower.translation + diff * res`), so it extrapolates past the later pose rather than interpolating between the two -- present in every call site since this function was first written. The corresponding test case is left deliberately failing (asserts the mathematically correct result) as a visible marker; fixing the formula itself is intentionally deferred to a separate change. `ctest`/running hdmapping_shared_tests today reports 6 passed, 1 failed -- that one failure is expected. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Signed-off-by: Michal Pelka <michal@Mac.lan>
Signed-off-by: Michal Pelka <michalpelka@gmail.com>
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This bundle introduces coloring to HDMapping.
It adds three apps:
I also done some deduplication, added first unit tests (yay!) Hope it won't break other things.