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Add option to rebin raw viewer #535

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a4775c4
Add option to rebin raw viewer
michalpelka Sep 14, 2026
99fce4c
make clang happy
michalpelka Sep 15, 2026
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280 changes: 150 additions & 130 deletions apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,12 @@ int index_rendered_points_local = -1;
// std::vector<std::vector<Point3Di>> all_points_local;
// std::vector<std::vector<int>> all_lidar_ids;
std::vector<int> indexes_to_filename;

// cached inputs to the chunking pass below, kept around so number_of_points_threshold
// can be changed and re-applied (rebuildAllData) without reloading files from disk
std::vector<std::vector<Point3Di>> g_points_per_file;
std::vector<std::pair<double, double>> g_timestamps_cache;
std::vector<Eigen::Affine3d> g_poses_cache;
double vqf_tauAcc = 0.5;
double wx = 1000000.0;
double wy = 1000000.0;
Expand Down Expand Up @@ -885,6 +891,129 @@ std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> get_mean_cov()
return mc;
}

// Re-chunks the already-loaded points (g_points_per_file / g_timestamps_cache / g_poses_cache)
// into all_data using the current number_of_points_threshold. Smaller thresholds mean each
// Index step in the toolbar covers less time, giving finer time navigation.
void rebuildAllData(bool preserve_position)
{
double preserved_time = 0.0;
bool have_preserved_time = false;
if (preserve_position && index_rendered_points_local >= 0 && index_rendered_points_local < static_cast<int>(all_data.size()) &&
!all_data[index_rendered_points_local].timestamps.empty())
{
preserved_time = all_data[index_rendered_points_local].timestamps.front().first;
have_preserved_time = true;
}

all_data.clear();
all_data.shrink_to_fit();
indexes_to_filename.clear();
indexes_to_filename.shrink_to_fit();

if (number_of_points_threshold < 1)
number_of_points_threshold = 1;

const auto& pointsPerFile = g_points_per_file;
const auto& timestamps = g_timestamps_cache;
const auto& poses = g_poses_cache;

int number_of_points = 0;
for (const auto& pp : pointsPerFile)
number_of_points += static_cast<int>(pp.size());

spdlog::info("Number of points: {}", number_of_points);
spdlog::info("Start indexing points");

std::vector<Point3Di> points_local;
std::vector<int> lidar_ids;

for (size_t i = 0; i < pointsPerFile.size(); i++)
{
std::cout << "Indexed file " << i + 1 << "/" << pointsPerFile.size() << "\r";

for (const auto& pp : pointsPerFile[i])
{
auto lower = std::lower_bound(
timestamps.begin(),
timestamps.end(),
pp.timestamp,
[](std::pair<double, double> lhs, double rhs) -> bool
{
return lhs.first < rhs;
});

int index_pose = static_cast<int>(std::distance(timestamps.begin(), lower)) - 1;

if (index_pose >= 0 && index_pose < static_cast<int>(poses.size()))
{
points_local.push_back(pp);
lidar_ids.push_back(pp.lidarid);
}

if (points_local.size() > static_cast<size_t>(number_of_points_threshold))
{
indexes_to_filename.push_back(static_cast<int>(i));

AllData data;
data.points_local = points_local;
data.lidar_ids = lidar_ids;

for (size_t k = 0; k < timestamps.size(); k++)
{
if (timestamps[k].first >= points_local[0].timestamp &&
timestamps[k].first <= points_local[points_local.size() - 1].timestamp)
{
data.timestamps.push_back(timestamps[k]);
data.poses.push_back(poses[k]);
}
}

// correct points timestamps
if (data.timestamps.size() > 2)
{
double ts_begin = data.timestamps[0].first;
double ts_step =
(data.timestamps[data.timestamps.size() - 1].first - data.timestamps[0].first) / data.points_local.size();

for (size_t pp_i = 0; pp_i < data.points_local.size(); pp_i++)
data.points_local[pp_i].timestamp = ts_begin + pp_i * ts_step;
}

all_data.push_back(data);

points_local.clear();
lidar_ids.clear();
}
}
}

spdlog::info("Indexing points finished\n");

if (all_data.size() > 0)
{
is_init = true;
index_rendered_points_local = 0;

if (have_preserved_time)
{
for (size_t i = 0; i < all_data.size(); i++)
{
if (!all_data[i].timestamps.empty() && preserved_time >= all_data[i].timestamps.front().first &&
preserved_time <= all_data[i].timestamps.back().first)
{
index_rendered_points_local = static_cast<int>(i);
break;
}
}
}
}
else
{
is_init = false;
index_rendered_points_local = -1;
}
}

void loadFiles(std::vector<std::string> input_file_names)
{
LidarOdometryParams params; // dummy for load_data function
Expand Down Expand Up @@ -1049,133 +1178,11 @@ void loadFiles(std::vector<std::string> input_file_names)
poses.push_back(m);
}

int number_of_points = 0;
for (const auto& pp : pointsPerFile)
number_of_points += pp.size();

spdlog::info("Number of points: {}", number_of_points);

spdlog::info("Start indexing points");

// std::vector<Point3Di> points_global;
std::vector<Point3Di> points_local;
std::vector<int> lidar_ids;

Eigen::Affine3d m_prev;
Eigen::Affine3d m_next;

Eigen::Quaterniond q_prev;
Eigen::Quaterniond q_next;
Eigen::Quaterniond q;

double time_prev;
double time_next;
double curr_time;

double t;

for (size_t i = 0; i < pointsPerFile.size(); i++)
{
std::cout << "Indexed file " << i + 1 << "/" << pointsPerFile.size() << "\r";

for (const auto& pp : pointsPerFile[i])
{
auto lower = std::lower_bound(
timestamps.begin(),
timestamps.end(),
pp.timestamp,
[](std::pair<double, double> lhs, double rhs) -> bool
{
return lhs.first < rhs;
});

int index_pose = std::distance(timestamps.begin(), lower) - 1;

if (index_pose >= 0 && index_pose < poses.size())
{
auto ppp = pp;
// Eigen::Affine3d m = poses[index_pose];
/*if (is_slerp)
{
if (index_pose > 0)
{
m_prev = poses[index_pose - 1];
m_next = poses[index_pose];

q_prev = Eigen::Quaterniond(m_prev.rotation());
q_next = Eigen::Quaterniond(m_next.rotation());

time_prev = timestamps[index_pose - 1].first;
time_next = timestamps[index_pose].first;
curr_time = ppp.timestamp;

t = (curr_time - time_prev) / (time_next - time_prev);
q = q_prev.slerp(t, q_next);

m.linear() = q.toRotationMatrix();
}
}*/

points_local.push_back(ppp);

// ppp.point = m * ppp.point;
lidar_ids.push_back(pp.lidarid);
// points_global.push_back(ppp);
}

if (points_local.size() > number_of_points_threshold)
{
// all_points_local.push_back(points_global);
indexes_to_filename.push_back(i);
// points_global.clear();
// all_lidar_ids.push_back(lidar_ids);
g_points_per_file = std::move(pointsPerFile);
g_timestamps_cache = std::move(timestamps);
g_poses_cache = std::move(poses);

///////////////////////////////////////
AllData data;
data.points_local = points_local;
data.lidar_ids = lidar_ids;

for (size_t i = 0; i < timestamps.size(); i++)
{
if (timestamps[i].first >= points_local[0].timestamp &&
timestamps[i].first <= points_local[points_local.size() - 1].timestamp)
{
data.timestamps.push_back(timestamps[i]);
data.poses.push_back(poses[i]);
}
}

// correct points timestamps
if (data.timestamps.size() > 2)
{
double ts_begin = data.timestamps[0].first;
double ts_step =
(data.timestamps[data.timestamps.size() - 1].first - data.timestamps[0].first) / data.points_local.size();

// spdlog::info("ts_begin {}", ts_begin);
// spdlog::info("ts_step {}", ts_step);
// spdlog::info("ts_end {}", data.timestamps[data.timestamps.size() - 1].first);

for (size_t pp = 0; pp < data.points_local.size(); pp++)
data.points_local[pp].timestamp = ts_begin + pp * ts_step;
}

all_data.push_back(data);

points_local.clear();
lidar_ids.clear();
//////////////////////////////////////
}
}
}

spdlog::info("Indexing points finished\n");

if (all_data.size() > 0)
{
is_init = true;
index_rendered_points_local = 0;
}
rebuildAllData(false);
}
}

Expand Down Expand Up @@ -1332,12 +1339,25 @@ void settings_gui()
if (ImGui::Begin("Settings", &is_settings_gui))
{
ImGui::PushItemWidth(ImGuiNumberWidth);
if (!is_init)
ImGui::InputInt("number_of_points_threshold", &number_of_points_threshold);
if (number_of_points_threshold < 1)
number_of_points_threshold = 1;
if (ImGui::IsItemHovered())
{
ImGui::InputInt("number_of_points_threshold", &number_of_points_threshold);
if (number_of_points_threshold < 0)
number_of_points_threshold = 0;
ImGui::BeginTooltip();
ImGui::Text("Max number of points per rendered chunk (one 'Index' step).");
ImGui::Text("Lower = shorter time span per chunk = finer time navigation with the Index slider.");
ImGui::EndTooltip();
}
ImGui::BeginDisabled(!is_init);
ImGui::SameLine();
if (ImGui::Button("Rebin"))
rebuildAllData(true);
if (ImGui::IsItemHovered())
ImGui::SetTooltip("Re-chunk the already loaded data with the new threshold, keeping the current time position");
ImGui::EndDisabled();
if (is_init)
ImGui::Text("Chunks: %d", static_cast<int>(all_data.size()));

ImGui::InputDouble("VQF tauAcc [s]", &vqf_tauAcc);
if (ImGui::IsItemHovered())
Expand Down
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