Fix colorization for calibration for invalid points. - #527
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Signed-off-by: Michał Pełka <michalpelka@gmail.com>
Signed-off-by: Michał Pełka <michalpelka@gmail.com>
michalpelka
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(cherry picked from commit f78fe80 on fork/mp/work) Adapted during the cherry-pick: the source branch carries the fast-rotation image filter (#526), which this branch does not, and f78fe80 touches the same lines. The filter's machinery -- poseAngSpeedDeg, poseAngSpeedMax, filterFastImages, maxImageAngSpeedDeg, angFilteredImgs and the angularSpeedDegAt()/computePoseAngularSpeedDeg() helpers -- was dropped rather than carried along: the calls came across in the conflicted hunks but their definitions did not, so keeping them would not have compiled. Bringing the filter here is a matter for cherry-picking #526 on its own. What the commit actually contributes is kept whole: the intensity drawing, the Camera.cpp fold-back guard ported from #527, and the imageTimeOffsetMs camera/LiDAR clock offset with its imageOffsetNs() plumbing. Note that imageTimeOffsetMs has no writer -- no widget, CLI flag or calibration-file key sets it, here or on the source branch -- so it stays 0 and the offset plumbing is inert until something wires it up. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
michalpelka
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Sep 14, 2026
(cherry picked from commit f78fe80 on fork/mp/work) Adapted during the cherry-pick: the source branch carries the fast-rotation image filter (#526), which this branch does not, and f78fe80 touches the same lines. The filter's machinery -- poseAngSpeedDeg, poseAngSpeedMax, filterFastImages, maxImageAngSpeedDeg, angFilteredImgs and the angularSpeedDegAt()/computePoseAngularSpeedDeg() helpers -- was dropped rather than carried along: the calls came across in the conflicted hunks but their definitions did not, so keeping them would not have compiled. Bringing the filter here is a matter for cherry-picking #526 on its own. What the commit actually contributes is kept whole: the intensity drawing, the Camera.cpp fold-back guard ported from #527, and the imageTimeOffsetMs camera/LiDAR clock offset with its imageOffsetNs() plumbing. Note that imageTimeOffsetMs has no writer -- no widget, CLI flag or calibration-file key sets it, here or on the source branch -- so it stays 0 and the offset plumbing is inert until something wires it up. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
michalpelka
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…ry viewer Upstream's fix for colorizing invalid points (#527) applies the rational model's fold-back cutoff inline in TrajectoryViewer.cpp, against local d_k1..d_k6 distortion variables. This branch had already moved that same logic into calib_core when coloring switched to calib::projectPoint, deleting those locals with the rest of the inline distortion math. Both sides merged without a textual conflict, leaving a call to maxValidRadiusSq() with arguments that no longer exist -- so the app did not compile after the rebase. Removes the reinstated copy of the function and its call site. The cutoff itself is unchanged in behaviour: calib::projectPoint runs it internally (Camera.cpp's cachedMaxValidRadiusSq), which is where the equirectangular commit deliberately put it so every caller is covered rather than this one call site. rMaxSq had no other reader. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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