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Code Issues Packages Projects Releases Wiki Activity

CID-SIMS support (#1676)

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* cid-sims dataset support

* Added cli tool to test CID-SIMS dataset

* removed debug log
This commit is contained in:
matlabbe
2026-03-28 14:33:26 -07:00
committed by GitHub
parent 5b985f69be
commit f94a963463
13 changed files with 1115 additions and 301 deletions
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guilib/src/PreferencesDialog.cpp
+17 -3
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@@ -850,6 +850,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_maxPoseTimeDiff, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_path_imu, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_imu_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2360,6 +2361,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0);
_ui->lineEdit_cameraImages_gt->setText("");
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0);
_ui->lineEdit_cameraImages_gt_transform->setText("0 0 0 0 0 0");
_ui->doubleSpinBox_maxPoseTimeDiff->setValue(0.02);
_ui->lineEdit_cameraImages_path_imu->setText("");
_ui->lineEdit_cameraImages_imu_transform->setText("0 0 1 0 -1 0 1 0 0");
@@ -2894,6 +2896,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt());
_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt());
_ui->lineEdit_cameraImages_gt_transform->setText(settings.value("gt_transform", _ui->lineEdit_cameraImages_gt_transform->text()).toString());
_ui->doubleSpinBox_maxPoseTimeDiff->setValue(settings.value("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()).toDouble());
_ui->lineEdit_cameraImages_path_imu->setText(settings.value("imu_path", _ui->lineEdit_cameraImages_path_imu->text()).toString());
@@ -3514,6 +3517,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex());
settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex());
settings.setValue("gt_transform", _ui->lineEdit_cameraImages_gt_transform->text());
settings.setValue("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value());
settings.setValue("imu_path", _ui->lineEdit_cameraImages_path_imu->text());
settings.setValue("imu_local_transform", _ui->lineEdit_cameraImages_imu_transform->text());
@@ -6525,6 +6529,15 @@ Transform PreferencesDialog::getLaserLocalTransform() const
}
return t;
}
Transform PreferencesDialog::getGroundTruthLocalTransform() const
{
Transform t = Transform::fromString(_ui->lineEdit_cameraImages_gt_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
if(t.isNull())
{
return Transform::getIdentity();
}
return t;
}
QString PreferencesDialog::getIMUPath() const
{
@@ -6891,7 +6904,7 @@ Camera * PreferencesDialog::createCamera(
((CameraRGBDImages*)camera)->setMaxFrames(_ui->spinBox_cameraRGBDImages_maxFrames->value());
((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraRGBDImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex(), this->getGroundTruthLocalTransform());
((CameraRGBDImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -6937,7 +6950,7 @@ Camera * PreferencesDialog::createCamera(
((CameraStereoImages*)camera)->setMaxFrames(_ui->spinBox_cameraStereoImages_maxFrames->value());
((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraStereoImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex(), this->getGroundTruthLocalTransform());
((CameraStereoImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraStereoImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -7137,7 +7150,8 @@ Camera * PreferencesDialog::createCamera(
_ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraImages*)camera)->setGroundTruthPath(
_ui->lineEdit_cameraImages_gt->text().toStdString(),
_ui->comboBox_cameraImages_gtFormat->currentIndex());
_ui->comboBox_cameraImages_gtFormat->currentIndex(),
this->getGroundTruthLocalTransform());
((CameraImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),