Skip to content

Trajectory viewer: load the exact .mjs, not the whole session folder #575

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
michalpelka merged 2 commits into from
Oct 22, 2026
Merged

Trajectory viewer: load the exact .mjs, not the whole session folder #575

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
dad3fcc
Trajectory viewer: load the exact .mjs, not the whole session folder
michalpelka Oct 22, 2026
6cfbe04
Make clang happy
michalpelka Oct 22, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
226 changes: 143 additions & 83 deletions apps/camera_lidar_trajectory_viewer/TrajectoryViewer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ static const std::vector<raylib_widgets::ShortcutEntry> appShortcuts = {
{ "", "P", "Toggle show path" },
{ "", "V", "Toggle show frustums" },
{ "", "Ctrl (tap)", "Toggle Intensity <-> RGB point color" },
{ "", "Ctrl+O", "Select LIO result directory" },
{ "", "Ctrl+O", "Select session (.mjs)" },
{ "", "Ctrl+Shift+O", "Select CAMERA_0 directory" },
{ "", "Ctrl+Shift+C", "Open calibration" },
{ "", "Ctrl+S", "Export colored point cloud (LAS/LAZ)" },
Expand Down Expand Up @@ -632,10 +632,15 @@ static int64_t parseImageTsNs(const fs::path& p)
}

//! Directory holding the camera frames: whatever the user picked, else the
//! CAMERA_0 sibling of the session dir.
//! CAMERA_0 sibling of the session dir (the .mjs manifest's directory, or the
//! directory itself when one is entered instead of a manifest).
static fs::path cameraDir(const AppState& s)
{
return s.cameraBuf[0] ? fs::path(s.cameraBuf) : fs::path(s.sessionBuf).parent_path() / "CAMERA_0";
if (s.cameraBuf[0])
return fs::path(s.cameraBuf);
fs::path sess(s.sessionBuf);
fs::path sessDir = fs::is_directory(sess) ? sess : sess.parent_path();
return sessDir.parent_path() / "CAMERA_0";
}

//! AppState::timeOffsetSec in nanoseconds, to match the timestamps.
Expand Down Expand Up @@ -727,6 +732,103 @@ static std::map<std::string, Eigen::Affine3f> parseMRP(const fs::path& mrpPath)
return result;
}

//! One session's files, read from its *.mjs manifest rather than by scanning
//! the directory -- a directory can hold more than one session, each with its
//! own poses file and chunk list.
struct SessionFiles
{
fs::path mjs;
std::map<std::string, Eigen::Affine3f> poses; //!< chunk stem -> pose; poses_file_name, else initial_poses_file_name
bool hasPoses = false;
std::vector<fs::path> lazPaths; //!< laz_file_names, in manifest order
};

//! The manifest s.sessionBuf names: a *.mjs file as is; a directory resolves to
//! its session.mjs (what lidar_odometry_step_1 writes), else its only *.mjs.
//! Empty path + err set when there is no single answer.
static fs::path resolveMjs(const fs::path& p, std::string& err)
{
if (!fs::is_directory(p))
{
if (fs::is_regular_file(p))
return p;
err = "Session file not found: " + p.string();
return {};
}
if (fs::is_regular_file(p / "session.mjs"))
return p / "session.mjs";
std::vector<fs::path> found;
for (const auto& e : fs::directory_iterator(p))
if (e.path().extension() == ".mjs")
found.push_back(e.path());
if (found.size() == 1)
return found.front();
err = found.empty() ? "No .mjs session file in " + p.string()
: std::to_string(found.size()) + " .mjs files in " + p.string() + " -- pick one";
return {};
}

//! Read the manifest's poses and chunk list. A stored path that no longer exists
//! falls back to the same file name next to the manifest, as Session::load does.
static bool readSessionFiles(const fs::path& mjs, SessionFiles& out, std::string& err)
{
out = SessionFiles{};
out.mjs = mjs;
auto relocate = [&](std::string path) -> fs::path
{
std::replace(path.begin(), path.end(), '\\', '/');
fs::path p(path);
std::error_code ec;
if (path.empty() || fs::exists(p, ec))
return p;
return mjs.parent_path() / p.filename();
};
try
{
std::ifstream f(mjs);
if (!f)
{
err = "Cannot open " + mjs.string();
return false;
}
nlohmann::json data = nlohmann::json::parse(f);
const auto& settings = data["Session Settings"];
out.poses = parseMRP(relocate(settings.value("poses_file_name", "")));
if (out.poses.empty())
out.poses = parseMRP(relocate(settings.value("initial_poses_file_name", "")));
out.hasPoses = !out.poses.empty();
for (const auto& fn : data["laz_file_names"])
out.lazPaths.push_back(relocate(fn.value("file_name", "")));
} catch (const std::exception& e)
{
err = "Bad session file " + mjs.string() + ": " + e.what();
return false;
}
return true;
}

//! Resolve s.sessionBuf and read it; on success the buffer is set to the manifest
//! actually used, so a directory entry shows which session it picked.
static bool openSessionFiles(AppState& s, SessionFiles& out)
{
std::string err;
fs::path mjs = resolveMjs(fs::path(s.sessionBuf), err);
if (mjs.empty() || !readSessionFiles(mjs, out, err))
{
s.status = err;
return false;
}
setBuf(s.sessionBuf, sizeof(s.sessionBuf), mjs.string());
return true;
}

//! "scan_lio_N" chunk's trajectory: trajectory_lio_N.csv next to its laz.
static fs::path chunkTrajectoryCsv(const fs::path& lazPath)
{
std::string stem = lazPath.stem().string();
return lazPath.parent_path() / ("trajectory_lio_" + stem.substr(stem.rfind('_') + 1) + ".csv");
}

static void loadSession(AppState& s)
{
s.traj.poses.clear();
Expand All @@ -739,32 +841,18 @@ static void loadSession(AppState& s)
s.cloud.unload();
loadImages(s);

fs::path d(s.sessionBuf);
if (!fs::is_directory(d))
{
s.status = "Not a directory";
SessionFiles sf;
if (!openSessionFiles(s, sf))
return;
}
const auto& mrp = sf.poses;

// parse MRP if present
auto mrp = parseMRP(d / "session_poses.mrp");
if (mrp.empty())
mrp = parseMRP(d / "session_ini_poses.mri");

// trajectory CSVs — apply corresponding MRP transform per chunk
std::vector<fs::path> csvPaths;
for (auto& e : fs::directory_iterator(d))
{
std::string n = e.path().filename().string();
if (n.rfind("trajectory_lio_", 0) == 0 && e.path().extension() == ".csv")
csvPaths.push_back(e.path());
}
std::sort(csvPaths.begin(), csvPaths.end());
for (auto& cp : csvPaths)
// trajectory CSVs of the manifest's chunks — apply the chunk's pose to each
for (const auto& lp : sf.lazPaths)
{
std::string stem = cp.stem().string();
std::string idx = stem.substr(stem.rfind('_') + 1);
std::string key = "scan_lio_" + idx;
fs::path cp = chunkTrajectoryCsv(lp);
if (!fs::exists(cp))
continue;
std::string key = lp.stem().string();
const Eigen::Affine3f* M = mrp.count(key) ? &mrp.at(key) : nullptr;
s.traj.loadCSV(cp.string(), M);
}
Expand Down Expand Up @@ -802,25 +890,11 @@ static void loadCloud(AppState& s)
s.exportSegments.clear();
s.cloud.unload();

fs::path d(s.sessionBuf);
if (!fs::is_directory(d))
{
s.status = "No session loaded";
SessionFiles sf;
if (!openSessionFiles(s, sf))
return;
}

auto mrp = parseMRP(d / "session_poses.mrp");
if (mrp.empty())
mrp = parseMRP(d / "session_ini_poses.mri");

std::vector<fs::path> lazPaths;
for (auto& e : fs::directory_iterator(d))
{
std::string n = e.path().filename().string();
if (n.rfind("scan_lio_", 0) == 0 && e.path().extension() == ".laz")
lazPaths.push_back(e.path());
}
std::sort(lazPaths.begin(), lazPaths.end());
const auto& mrp = sf.poses;
const auto& lazPaths = sf.lazPaths;

bool canColor = s.calibLoaded && !s.imagesFilenamesInTime.empty();
Eigen::Matrix3f R_wc = canColor ? s.R_wc : Eigen::Matrix3f::Identity();
Expand Down Expand Up @@ -884,13 +958,12 @@ static void loadCloud(AppState& s)
for (auto& lp : lazPaths)
{
std::string key = lp.stem().string(); // "scan_lio_N"
std::string idx = key.substr(key.rfind('_') + 1);
const Eigen::Affine3f* M = mrp.count(key) ? &mrp.at(key) : nullptr;

// ── step 1: read chunk time range from the matching trajectory CSV ──
int64_t chunkFirst = 0, chunkLast = 0;
{
fs::path csvPath = d / ("trajectory_lio_" + idx + ".csv");
fs::path csvPath = chunkTrajectoryCsv(lp);
std::ifstream cf(csvPath);
if (cf)
{
Expand Down Expand Up @@ -1892,9 +1965,11 @@ static void toggleFlyoverPlaying(AppState& s)
//! Factored out so the File menu items and their keyboard shortcuts (in the
//! main loop below) call the exact same code, matching the openSession()-style
//! convention used by mandeye_single_session_viewer/multi_view_tls_registration.
static void actionSelectLioResultDir(AppState& s)
static void actionSelectSession(AppState& s)
{
setBuf(s.sessionBuf, sizeof(s.sessionBuf), mandeye::fd::SelectFolder("Select LIO result directory"));
std::string path = mandeye::fd::OpenFileDialogOneFile("Select session (*.mjs)", mandeye::fd::Session_filter);
if (!path.empty())
setBuf(s.sessionBuf, sizeof(s.sessionBuf), path);
}

static void actionSelectCamera0Dir(AppState& s)
Expand Down Expand Up @@ -1938,8 +2013,8 @@ static void actionOpenMask(AppState& s)
//! than waiting for "Load session" -- a drop is already an explicit "load this".
//! A dropped directory containing a *.mjs manifest is a session (LIO result
//! dir); any other dropped directory is the camera directory (only the images
//! are swapped, so the trajectory and cloud survive); a *.mjs file is a
//! session manifest (its parent directory is the session, as with --mjs); a
//! are swapped, so the trajectory and cloud survive); a *.mjs file is that
//! exact session, as with --mjs; a
//! *.json is a calibration file.
static void handleDroppedPath(AppState& s, const std::string& path)
{
Expand Down Expand Up @@ -1979,8 +2054,8 @@ static void handleDroppedPath(AppState& s, const std::string& path)
}
else if (ext == ".mjs")
{
// Session manifest, same convention as --mjs: the session directory is its parent.
setBuf(s.sessionBuf, sizeof(s.sessionBuf), fs::path(path).parent_path().string());
// Session manifest, used as is -- its directory may hold other sessions too.
setBuf(s.sessionBuf, sizeof(s.sessionBuf), path);
loadSession(s);
}
else if (ext == ".png" || ext == ".bmp" || ext == ".jpg" || ext == ".jpeg")
Expand Down Expand Up @@ -2185,23 +2260,11 @@ static void buildRosInput(AppState& s, RosExportInput& in)
in.E = s.E;
in.R_wc = s.R_wc;

fs::path d(s.sessionBuf);
if (!fs::is_directory(d))
SessionFiles sf;
if (!openSessionFiles(s, sf))
return;

auto mrp = parseMRP(d / "session_poses.mrp");
if (mrp.empty())
mrp = parseMRP(d / "session_ini_poses.mri");

std::vector<fs::path> lazPaths;
for (auto& e : fs::directory_iterator(d))
{
std::string n = e.path().filename().string();
if (n.rfind("scan_lio_", 0) == 0 && e.path().extension() == ".laz")
lazPaths.push_back(e.path());
}
std::sort(lazPaths.begin(), lazPaths.end());
for (auto& lp : lazPaths)
const auto& mrp = sf.poses;
for (const auto& lp : sf.lazPaths)
{
RosExportInput::Chunk ch;
ch.lazPath = lp.string();
Expand Down Expand Up @@ -2372,18 +2435,15 @@ int main(int argc, char* argv[])
}

AppState s;
// --mjs gives the session manifest; the session directory is its parent.
// Also accepts the session directory itself, for symmetry with drag & drop.
std::string sessionDir;
// --mjs gives the session manifest, used as is. A directory is also accepted,
// for symmetry with drag & drop; loadSession() resolves it to its session.mjs.
std::string session;
if (args.has("mjs"))
{
fs::path mjsPath(args.get("mjs"));
sessionDir = fs::is_directory(mjsPath) ? mjsPath.string() : mjsPath.parent_path().string();
}
session = args.get("mjs");
else if (!args.positional.empty())
sessionDir = args.positional.front(); // back-compat
if (!sessionDir.empty())
strncpy(s.sessionBuf, sessionDir.c_str(), sizeof(s.sessionBuf) - 1);
session = args.positional.front(); // back-compat
if (!session.empty())
strncpy(s.sessionBuf, session.c_str(), sizeof(s.sessionBuf) - 1);

if (args.has("camera_dir"))
strncpy(s.cameraBuf, args.get("camera_dir").c_str(), sizeof(s.cameraBuf) - 1);
Expand Down Expand Up @@ -2482,7 +2542,7 @@ int main(int argc, char* argv[])
{
bool imguiWants = ImGui::GetIO().WantCaptureMouse;
s.orbit.updateEulerTransition(GetFrameTime());
// Drag & drop the LIO result directory (this app's session), a CAMERA_0 directory or a
// Drag & drop a session (*.mjs, or its LIO result directory), a CAMERA_0 directory or a
// calibration *.json onto the window to load it -- raylib's GLFW backend surfaces OS
// drag & drop the same way on Windows, Linux and macOS, so no platform-specific code
// is needed here. See handleDroppedPath() for how a dropped path is classified.
Expand Down Expand Up @@ -2519,7 +2579,7 @@ int main(int argc, char* argv[])
if (ctrlDown && shiftDown && IsKeyPressed(KEY_O))
actionSelectCamera0Dir(s);
else if (ctrlDown && IsKeyPressed(KEY_O))
actionSelectLioResultDir(s);
actionSelectSession(s);
if (ctrlDown && shiftDown && IsKeyPressed(KEY_C))
actionOpenCalibration(s);
if (ctrlDown && IsKeyPressed(KEY_S))
Expand Down Expand Up @@ -2794,8 +2854,8 @@ int main(int argc, char* argv[])
{
if (ImGui::BeginMenu("File"))
{
if (ImGui::MenuItem("Select LIO Result Directory...", "Ctrl+O"))
actionSelectLioResultDir(s);
if (ImGui::MenuItem("Select Session (.mjs)...", "Ctrl+O"))
actionSelectSession(s);
if (ImGui::MenuItem("Select CAMERA_0 Directory...", "Ctrl+Shift+O"))
actionSelectCamera0Dir(s);
ImGui::Separator();
Expand Down Expand Up @@ -2948,7 +3008,7 @@ int main(int argc, char* argv[])
if (ImGui::CollapsingHeader("Session", ImGuiTreeNodeFlags_DefaultOpen))
{
ImGui::PushItemWidth(-1);
ImGui::Text("LIO result directory:");
ImGui::Text("Session (.mjs):");
ImGui::InputText("##sess", s.sessionBuf, sizeof(s.sessionBuf));
ImGui::Text("CAMERA_0 directory (empty = auto):");
ImGui::InputText("##cam", s.cameraBuf, sizeof(s.cameraBuf));
Expand Down
4 changes: 2 additions & 2 deletions calib_core/include/CalibCore/CliArgs.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,8 +74,8 @@ CliArgs parseArgs(int argc, char* argv[]);
//! @ref printUsage; the -h/--help line is always added automatically.
namespace cliopt {
inline constexpr const char* MJS =
" --mjs <file.mjs> session manifest file; the session\n"
" directory is its parent folder";
" --mjs <file.mjs> session manifest file; its poses file and\n"
" chunk list are used, not the whole folder";
inline constexpr const char* CAMERA_DIR =
" --camera_dir <dir> directory of CAMERA_0 images";
inline constexpr const char* CALIB =
Expand Down
Loading