Updates

apps/compare_trajectories/mandeye_compare_trajectories.cpp

@@ -891,6 +891,7 @@ void display()
 
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame();
 
     ImGuizmo::BeginFrame();
     ImGuizmo::Enable(true);

apps/hd_mapper/hd_mapper.cpp

@@ -151,6 +151,7 @@ void display() {
 
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame(); 
 
     //my_display_code();
     project_setings.imgui(odo_with_gnss_fusion, laz_wrapper.sectors, roi_exporter.rois_with_constraints, common_data);

apps/lidar_odometry_step_1/lidar_odometry_gui.cpp

@@ -604,35 +604,19 @@ void step1(const std::atomic<bool> &loPause)
 
     if (fs::exists(input_folder_name))
     {
-        if (!input_folder_name.empty())
-        {
-            std::string newTitle = winTitle + " - ..\\" + std::filesystem::path(input_folder_name).filename().string();
-            glutSetWindowTitle(newTitle.c_str());
-
-            for (const auto &entry : fs::directory_iterator(input_folder_name))
-                if (entry.is_regular_file())
-                    input_file_names.push_back(entry.path().string());
+        std::string newTitle = winTitle + " - ..\\" + std::filesystem::path(input_folder_name).filename().string();
+        glutSetWindowTitle(newTitle.c_str());
 
-            if (load_data(input_file_names, params, pointsPerFile, imu_data, full_debug_messages))
-            {
-                working_directory = fs::path(input_file_names[0]).parent_path().string();
-                calculate_trajectory(trajectory, imu_data, params.fusionConventionNwu, params.fusionConventionEnu, params.fusionConventionNed, params.ahrs_gain, full_debug_messages, params.use_removie_imu_bias_from_first_stationary_scan);
-                compute_step_1(pointsPerFile, params, trajectory, worker_data, loPause);
-                step_1_done = true;
-            }
-            else
-            {
-                std::string message_info = "Problem with loading data from folder '" + input_folder_name + "' (Pease check if folder exists). Program will close once You click OK!!!";
-                std::cout << message_info << std::endl;
-                [[maybe_unused]]
-                pfd::message message(
-                    "Information",
-                    message_info.c_str(),
-                    pfd::choice::ok, pfd::icon::info);
-                message.result();
+        for (const auto &entry : fs::directory_iterator(input_folder_name))
+            if (entry.is_regular_file())
+                input_file_names.push_back(entry.path().string());
 
-                exit(1);
-            }
+        if (load_data(input_file_names, params, pointsPerFile, imu_data, full_debug_messages))
+        {
+            working_directory = fs::path(input_file_names[0]).parent_path().string();
+            calculate_trajectory(trajectory, imu_data, params.fusionConventionNwu, params.fusionConventionEnu, params.fusionConventionNed, params.ahrs_gain, full_debug_messages, params.use_removie_imu_bias_from_first_stationary_scan);
+            compute_step_1(pointsPerFile, params, trajectory, worker_data, loPause);
+            step_1_done = true;
         }
         else
         {
@@ -648,19 +632,6 @@ void step1(const std::atomic<bool> &loPause)
             exit(1);
         }
     }
-    else
-    {
-        std::string message_info = "Problem with loading data from folder '" + input_folder_name + "' Pease check if folder name is composed of ASCII symbols, if not --> please change folder name. Program will close once You click OK!!!";
-        std::cout << message_info << std::endl;
-        [[maybe_unused]]
-        pfd::message message(
-            "Information",
-            message_info.c_str(),
-            pfd::choice::ok, pfd::icon::info);
-        message.result();
-
-        exit(1);
-    }
 }
 
 void step2(const std::atomic<bool> &loPause)
@@ -1656,14 +1627,9 @@ void save_results(bool info, double elapsed_seconds, std::string &working_direct
 
 void display()
 {
-    ImGuiIO &io = ImGui::GetIO();
-
-    view_kbd_shortcuts();
-
-    if (io.KeyCtrl && ImGui::IsKeyPressed('O', false))
-        openData();
-
     updateCameraTransition();
+
+    ImGuiIO &io = ImGui::GetIO();
 
     glViewport(0, 0, (GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);
     glMatrixMode(GL_PROJECTION);
@@ -1879,6 +1845,20 @@ void display()
 
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame();
+
+    ShowMainDockSpace();
+
+    view_kbd_shortcuts();
+
+    if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_O, false))
+    {
+        openData();
+
+        //workaround
+        io.AddKeyEvent(ImGuiKey_O, false);
+        io.AddKeyEvent(ImGuiMod_Ctrl, false);
+    }
 
     if (!loRunning)
     {

apps/livox_mid_360_intrinsic_calibration/livox_mid_360_intrinsic_calibration.cpp

@@ -1238,6 +1238,7 @@ void display()
 #endif
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame();
 
     project_gui();
 

apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp

@@ -626,15 +626,10 @@ void project_gui()
 
 void display()
 {
-    ImGuiIO &io = ImGui::GetIO();
-
-    view_kbd_shortcuts();
-
-    if (ImGui::IsKeyPressed('G', false))
-        show_grid = !show_grid;
-
     updateCameraTransition();
 
+    ImGuiIO& io = ImGui::GetIO();
+
     glViewport(0, 0, (GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);
     glMatrixMode(GL_PROJECTION);
     glLoadIdentity();
@@ -814,6 +809,14 @@ void display()
 
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame();
+
+    ShowMainDockSpace();
+
+    view_kbd_shortcuts();
+
+    if (ImGui::IsKeyPressed(ImGuiKey_G, false))
+        show_grid = !show_grid;
 
     if (ImGui::BeginMainMenuBar())
     {

apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp

@@ -1217,6 +1217,7 @@ void display()
 
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame();
 
     project_gui();
 

apps/mandeye_single_session_viewer/mandeye_single_session_viewer.cpp

@@ -762,8 +762,6 @@ void openSession()
 
 void display()
 {
-    ImGuiIO& io = ImGui::GetIO();
-
     glClearColor(bg_color.x * bg_color.w, bg_color.y * bg_color.w, bg_color.z * bg_color.w, bg_color.w);
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
     glEnable(GL_DEPTH_TEST);
@@ -775,45 +773,10 @@ void display()
         gl_renderPointCloud();
     }
 
-
-    view_kbd_shortcuts();
-
-    if (io.KeyCtrl && ImGui::IsKeyPressed('O', false))
-        openSession();
-
-    if (session.point_clouds_container.point_clouds.size() > 0)
-    {
-        if (io.KeyCtrl && ImGui::IsKeyPressed('N'))
-            show_neighbouring_scans = !show_neighbouring_scans;
-        if (ImGui::IsKeyPressed(ImGuiKey_UpArrow, true))
-            offset_intensity += 0.01;
-        if (ImGui::IsKeyPressed(ImGuiKey_DownArrow, true))
-            offset_intensity -= 0.01;
-
-        if (offset_intensity < 0)
-            offset_intensity = 0;
-        else if (offset_intensity > 1)
-            offset_intensity = 1;
-
-        if ((!io.KeyCtrl && !io.KeyShift && ImGui::IsKeyPressed(ImGuiKey_RightArrow, true))
-            || ImGui::IsKeyPressed(ImGuiKey_PageUp, true)
-            || ImGui::IsKeyPressed('+', true)
-            )
-            index_rendered_points_local += 1;
-        if ((!io.KeyCtrl && !io.KeyShift && ImGui::IsKeyPressed(ImGuiKey_LeftArrow, true))
-            || ImGui::IsKeyPressed(ImGuiKey_PageDown, true)
-            || ImGui::IsKeyPressed('-', true)
-            )
-            index_rendered_points_local -= 1;
-
-        if (index_rendered_points_local < 0)
-            index_rendered_points_local = 0;
-        if (index_rendered_points_local >= session.point_clouds_container.point_clouds.size())
-            index_rendered_points_local = session.point_clouds_container.point_clouds.size() - 1;
-    }
-
     updateCameraTransition();
 
+    ImGuiIO& io = ImGui::GetIO();
+
     glViewport(0, 0, (GLsizei)io.DisplaySize.x, (GLsizei)io.DisplaySize.y);
     glMatrixMode(GL_PROJECTION);
     glLoadIdentity();
@@ -955,6 +918,58 @@ void display()
 
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+    ImGui::NewFrame();
+
+    ShowMainDockSpace();
+
+    view_kbd_shortcuts();
+
+    if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_O, false))
+    {
+        openSession();
+
+		//workaround
+        io.AddKeyEvent(ImGuiKey_O, false);
+        io.AddKeyEvent(ImGuiMod_Ctrl, false);
+    }
+
+    if (session.point_clouds_container.point_clouds.size() > 0)
+    {
+        if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_N, false))
+        {
+            show_neighbouring_scans = !show_neighbouring_scans;
+
+            //workaround
+            io.AddKeyEvent(ImGuiKey_N, false);
+            io.AddKeyEvent(ImGuiMod_Ctrl, false);
+        }
+
+        if (ImGui::IsKeyPressed(ImGuiKey_UpArrow, true))
+            offset_intensity += 0.01;
+        if (ImGui::IsKeyPressed(ImGuiKey_DownArrow, true))
+            offset_intensity -= 0.01;
+
+        if (offset_intensity < 0)
+            offset_intensity = 0;
+        else if (offset_intensity > 1)
+            offset_intensity = 1;
+
+        if ((!io.KeyCtrl && !io.KeyShift && ImGui::IsKeyPressed(ImGuiKey_RightArrow, true))
+            || ImGui::IsKeyPressed(ImGuiKey_PageUp, true)
+            || ImGui::IsKeyPressed(ImGuiKey_KeypadAdd, true)
+            )
+            index_rendered_points_local += 1;
+        if ((!io.KeyCtrl && !io.KeyShift && ImGui::IsKeyPressed(ImGuiKey_LeftArrow, true))
+            || ImGui::IsKeyPressed(ImGuiKey_PageDown, true)
+            || ImGui::IsKeyPressed(ImGuiKey_KeypadSubtract, true)
+            )
+            index_rendered_points_local -= 1;
+
+        if (index_rendered_points_local < 0)
+            index_rendered_points_local = 0;
+        if (index_rendered_points_local >= session.point_clouds_container.point_clouds.size())
+            index_rendered_points_local = session.point_clouds_container.point_clouds.size() - 1;
+    }
 
     if (ImGui::BeginMainMenuBar())
     {

apps/manual_color/manual_color.cpp

@@ -170,31 +170,24 @@ void imagePicker(const std::string &name, ImTextureID tex1, std::vector<ImVec2>
     float speed = io.KeyShift ? 10.f : 1.f;
     int transX = 0;
     int transY = 0;
-    if (io.KeysDown[io.KeyMap[ImGuiKey_UpArrow]])
-    {
+
+    if (ImGui::IsKeyDown(ImGuiKey_UpArrow))
         transY = -10 * speed;
-    }
-    if (io.KeysDown[io.KeyMap[ImGuiKey_DownArrow]])
-    {
+
+    if (ImGui::IsKeyDown(ImGuiKey_DownArrow))
         transY = 10 * speed;
-    }
-    if (io.KeysDown[io.KeyMap[ImGuiKey_LeftArrow]])
-    {
+
+    if (ImGui::IsKeyDown(ImGuiKey_LeftArrow))
         transX = -10 * speed;
-    }
-    if (io.KeysDown[io.KeyMap[ImGuiKey_RightArrow]])
-    {
+
+    if (ImGui::IsKeyDown(ImGuiKey_RightArrow))
         transX = 10 * speed;
-    }
-    if (io.KeysDown[io.KeyMap[ImGuiKey_PageUp]])
-    {
+
+    if (ImGui::IsKeyDown(ImGuiKey_PageUp))
         zoom *= 1.0f + 0.01f * speed;
-    }
 
-    if (io.KeysDown[io.KeyMap[ImGuiKey_PageDown]])
-    {
+    if (ImGui::IsKeyDown(ImGuiKey_PageDown))
         zoom /= 1.00f + 0.01f * speed;
-    }
 
     ImVec2 uv_min = ImVec2(0.0f, 0.0f);                 // Top-left
     ImVec2 uv_max = ImVec2(1.0f, 1.0f);                 // Lower-right
@@ -934,6 +927,7 @@ void display()
     }
     ImGui_ImplOpenGL2_NewFrame();
     ImGui_ImplGLUT_NewFrame();
+	ImGui::NewFrame();
 
     std::vector<ImVec2> picked3DPoints(SystemData::pointPickedPointCloud.size());
     std::transform(SystemData::pointPickedPointCloud.begin(), SystemData::pointPickedPointCloud.end(), picked3DPoints.begin(), UnprojectPoint);