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Added PFD warning on trying to calibrate one lidar, added gizmo #456

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Merged
JanuszBedkowski merged 1 commit into from
Jul 4, 2026
Merged

Added PFD warning on trying to calibrate one lidar, added gizmo #456

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71 changes: 69 additions & 2 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 @@ -26,6 +26,8 @@
#include <Core/transformations.h>
#include <Core/utils.hpp>

#include "portable-file-dialogs.h"

#ifdef _WIN32
#include "resource.h"
#include <shellapi.h> // <-- Required for ShellExecuteA
Expand Down Expand Up @@ -91,6 +93,8 @@ double search_radius = 0.1;

bool show_grid = true;
bool manual_calibration = false;
bool show_gizmo = false;
float m_gizmo[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };

///////////////////////////////////////////////////////////////////////////////////

Expand Down Expand Up @@ -229,9 +233,26 @@ void settings_gui()
{
const auto input_file_name = mandeye::fd::OpenFileDialogOneFile("Serial number file", mandeye::fd::sn_filter);
idToSn = MLvxCalib::GetIdToSnMapping(input_file_name);
if (idToSn.size() > 0)
{
calibration_file_name = "";
calibrations.clear();
imuSnToUse = idToSn.at(0);
spdlog::info("Loaded LiDAR serial numbers:");
for (const auto& [id, sn] : idToSn)
spdlog::info(" - ID: {} --> SN: {}", id, sn.c_str());
if (idToSn.size() <= 1)
{
[[maybe_unused]] pfd::message message(
"Warning",
"Only one LiDAR detected. Calibration is not possible with a single LiDAR unit.",
pfd::choice::ok,
pfd::icon::warning);
}
}
}

if (idToSn.size() == 1)
if (idToSn.size() <= 1)
ImGui::Text("No need for calibration when only 1 LiDAR available (Load other file or quit)");
}
else
Expand All @@ -251,7 +272,7 @@ void settings_gui()
const auto input_file_name = mandeye::fd::SaveFileDialog(
"Save calibration file", mandeye::fd::Calibration_filter, ".mjc", "calibration.mjc");

if (input_file_name.size() > 0)
if (input_file_name.size() >= 1)
{
std::string l1 = idToSn.at(0);
std::string l2 = idToSn.at(1);
Expand Down Expand Up @@ -286,6 +307,14 @@ void settings_gui()
fs << j.dump(2);
fs.close();
}
else
{
[[maybe_unused]] pfd::message message(
"Warning",
"Only one LiDAR detected. Calibration is not possible with a single LiDAR unit. ",
pfd::choice::ok,
pfd::icon::warning);
}
}
if (ImGui::IsItemHovered())
ImGui::SetTooltip("If you don't have any calibration file");
Expand Down Expand Up @@ -513,6 +542,18 @@ void settings_gui()
Eigen::Affine3d m_pose = affine_matrix_from_pose_tait_bryan(tb_pose);
calibrations.at(chosen_lidar) = m_pose;
}

ImGui::Checkbox("Show gizmo", &show_gizmo);
if (ImGui::IsItemHovered())
ImGui::SetTooltip("Drag the gizmo in the 3D view to adjust the pose of the selected LiDAR");

if (show_gizmo)
{
const Eigen::Affine3d& m = calibrations.at(chosen_lidar);
for (int c = 0; c < 4; c++)
for (int r = 0; r < 4; r++)
m_gizmo[c * 4 + r] = static_cast<float>(m(r, c));
}
}

if (point_cloud.size() > 0)
Expand Down Expand Up @@ -848,6 +889,32 @@ void display()
ImGui::EndMainMenuBar();
}

if (manual_calibration && show_gizmo && chosen_lidar != -1)
{
ImGuizmo::BeginFrame();
ImGuizmo::Enable(true);
ImGuizmo::SetRect(0, 0, io.DisplaySize.x, io.DisplaySize.y);

GLfloat projection[16];
glGetFloatv(GL_PROJECTION_MATRIX, projection);

GLfloat modelview[16];
glGetFloatv(GL_MODELVIEW_MATRIX, modelview);

ImGuizmo::Manipulate(
&modelview[0],
&projection[0],
ImGuizmo::TRANSLATE | ImGuizmo::ROTATE_Z | ImGuizmo::ROTATE_X | ImGuizmo::ROTATE_Y,
ImGuizmo::WORLD,
m_gizmo,
NULL);

Eigen::Affine3d& m = calibrations.at(chosen_lidar);
for (int c = 0; c < 4; c++)
for (int r = 0; r < 4; r++)
m(r, c) = static_cast<double>(m_gizmo[c * 4 + r]);
}

cor_window();

info_window(infoLines, appShortcuts);
Expand Down
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