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Add scale to imu error visualization #533

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Merged
michalpelka merged 1 commit into from
Sep 15, 2026
Merged

Add scale to imu error visualization #533

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11 changes: 10 additions & 1 deletion apps/multi_view_tls_registration/multi_view_tls_registration_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4631,7 +4631,8 @@ void display()
session.point_clouds_container.xz_intersection,
session.point_clouds_container.yz_intersection,
session.point_clouds_container.xy_intersection,
session.point_clouds_container.show_with_initial_pose);
session.point_clouds_container.show_with_initial_pose,
session.point_clouds_container.imu_to_lio_diff_scale);

observationPickingRender(observation_picking);

Expand Down Expand Up @@ -5883,6 +5884,14 @@ void display()
}

ImGui::MenuItem("Show IMU to LIO difference", nullptr, &session.point_clouds_container.show_imu_to_lio_diff);
if (session.point_clouds_container.show_imu_to_lio_diff)
{
ImGui::SetNextItemWidth(ImGuiNumberWidth);
ImGui::InputFloat(
"IMU to LIO diff scale", &session.point_clouds_container.imu_to_lio_diff_scale, 1.0f, 10.0f, "%.1f");
if (session.point_clouds_container.imu_to_lio_diff_scale < 0.0f)
session.point_clouds_container.imu_to_lio_diff_scale = 0.0f;
}

ImGui::Separator();

Expand Down
8 changes: 8 additions & 0 deletions apps/multi_view_tls_registration_legacy/multi_view_tls_registration_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3582,6 +3582,14 @@ void display()
}

ImGui::MenuItem("Show IMU to LIO difference", nullptr, &session.point_clouds_container.show_imu_to_lio_diff);
if (session.point_clouds_container.show_imu_to_lio_diff)
{
ImGui::SetNextItemWidth(ImGuiNumberWidth);
ImGui::InputFloat(
"IMU to LIO diff scale", &session.point_clouds_container.imu_to_lio_diff_scale, 1.0f, 10.0f, "%.1f");
if (session.point_clouds_container.imu_to_lio_diff_scale < 0.0f)
session.point_clouds_container.imu_to_lio_diff_scale = 0.0f;
}

ImGui::Separator();

Expand Down
3 changes: 2 additions & 1 deletion core/include/Core/point_cloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,8 @@ class PointCloud
bool yz_intersection,
bool xy_intersection,
double intersection_width,
bool visible_imu_diff);
bool visible_imu_diff,
float imu_diff_scale = 10.0f);
void render(Eigen::Affine3d pose, int viewer_decmiate_point_cloud, int viewer_reduce_rendered_trajectory, float _render_color[3]);
#endif
};
1 change: 1 addition & 0 deletions core/include/Core/point_clouds.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ class PointClouds
std::string initial_poses_file_name;
std::string out_poses_file_name;
bool show_imu_to_lio_diff = false;
float imu_to_lio_diff_scale = 10.0f;

struct PointCloudDimensions
{
Expand Down
3 changes: 2 additions & 1 deletion core/include/Core/raylib_render.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,8 @@ class ScanRenderer
bool xzIntersection = false,
bool yzIntersection = false,
bool xyIntersection = false,
bool useInitialPose = false) const;
bool useInitialPose = false,
float imuDiffScale = 10.0f) const;

// Draws a single already-cached scan (see rebuild()) straight from its
// persistent, full-resolution GPU buffer -- no CPU re-transform or
Expand Down
9 changes: 5 additions & 4 deletions core/src/point_cloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1533,7 +1533,8 @@ void PointCloud::render(
bool yz_intersection,
bool xy_intersection,
double intersection_width,
bool visible_imu_diff)
bool visible_imu_diff,
float imu_diff_scale)
{
if (!this->visible)
return;
Expand All @@ -1547,15 +1548,15 @@ void PointCloud::render(

glColor3f(1, 0, 0);
glVertex3f(m(0, 3), m(1, 3), m(2, 3));
glVertex3f(m(0, 3) + this->local_trajectory[i].imu_diff_angle_om_fi_ka_deg.x() * 10, m(1, 3), m(2, 3));
glVertex3f(m(0, 3) + this->local_trajectory[i].imu_diff_angle_om_fi_ka_deg.x() * imu_diff_scale, m(1, 3), m(2, 3));

glColor3f(0, 1, 0);
glVertex3f(m(0, 3), m(1, 3), m(2, 3));
glVertex3f(m(0, 3), m(1, 3) + this->local_trajectory[i].imu_diff_angle_om_fi_ka_deg.y() * 10, m(2, 3));
glVertex3f(m(0, 3), m(1, 3) + this->local_trajectory[i].imu_diff_angle_om_fi_ka_deg.y() * imu_diff_scale, m(2, 3));

glColor3f(0, 0, 1);
glVertex3f(m(0, 3), m(1, 3), m(2, 3));
glVertex3f(m(0, 3), m(1, 3), m(2, 3) + this->local_trajectory[i].imu_diff_angle_om_fi_ka_deg.z() * 10);
glVertex3f(m(0, 3), m(1, 3), m(2, 3) + this->local_trajectory[i].imu_diff_angle_om_fi_ka_deg.z() * imu_diff_scale);
}
glEnd();
}
Expand Down
3 changes: 2 additions & 1 deletion core/src/point_clouds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -795,7 +795,8 @@ void PointClouds::render(
yz_intersection,
xy_intersection,
intersection_width,
show_imu_to_lio_diff);
show_imu_to_lio_diff,
imu_to_lio_diff_scale);
}
}
#endif
Expand Down
9 changes: 5 additions & 4 deletions core/src/raylib_render.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -649,7 +649,8 @@ void ScanRenderer::drawTrajectories(
bool xzIntersection,
bool yzIntersection,
bool xyIntersection,
bool useInitialPose) const
bool useInitialPose,
float imuDiffScale) const
{
int stride = reduceRenderedTrajectory < 1 ? 1 : reduceRenderedTrajectory;

Expand Down Expand Up @@ -714,9 +715,9 @@ void ScanRenderer::drawTrajectories(
Eigen::Affine3d m = shownPose * pc.local_trajectory[i].m_pose;
Vector3 origin = toVec3(m.translation());
const auto& diff = pc.local_trajectory[i].imu_diff_angle_om_fi_ka_deg;
DrawLine3D(origin, toVec3(m.translation() + Eigen::Vector3d(diff.x() * 10, 0, 0)), RED);
DrawLine3D(origin, toVec3(m.translation() + Eigen::Vector3d(0, diff.y() * 10, 0)), GREEN);
DrawLine3D(origin, toVec3(m.translation() + Eigen::Vector3d(0, 0, diff.z() * 10)), BLUE);
DrawLine3D(origin, toVec3(m.translation() + Eigen::Vector3d(diff.x() * imuDiffScale, 0, 0)), RED);
DrawLine3D(origin, toVec3(m.translation() + Eigen::Vector3d(0, diff.y() * imuDiffScale, 0)), GREEN);
DrawLine3D(origin, toVec3(m.translation() + Eigen::Vector3d(0, 0, diff.z() * imuDiffScale)), BLUE);
}
}

Expand Down
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