Introduce coloring to HDmapping

3rdparty/doctest/LICENSE.txt

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016-2023 Viktor Kirilov
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

CMakeLists.txt

@@ -101,6 +101,17 @@ include(cmake/raylib.cmake)
 # Core Library
 # ============================================================================
 add_subdirectory(core)
+add_subdirectory(calib_core)
+add_subdirectory(raylib_widgets)
+
+# ============================================================================
+# Unit tests (opt-in: cmake -DBUILD_TESTING=ON)
+# ============================================================================
+option(BUILD_TESTING "Build HDMapping unit tests" OFF)
+if(BUILD_TESTING)
+    enable_testing()
+    add_subdirectory(shared/tests)
+endif()
 
 set(CORE_LIBRARIES core)
 set(GUI_LIBRARIES imgui imguizmo implot)
@@ -127,6 +138,9 @@ add_subdirectory(apps/mandeye_single_session_viewer)
 add_subdirectory(apps/livox_mid_360_intrinsic_calibration)
 add_subdirectory(apps/single_session_manual_coloring)
 add_subdirectory(apps/concatenate_multi_livox)
+add_subdirectory(apps/camera_lidar_calibration)
+add_subdirectory(apps/camera_lidar_trajectory_viewer)
+add_subdirectory(apps/camera_lidar_intrinsics_calib)
 
 # NOTE(mwlasiuk) : disable warnings for third party libraries so they do not pollute build logs
 

README.md

@@ -132,6 +132,14 @@ More information can be found here:
 - Info for Windows users: please use the latest release https://github.com/MapsHD/HDMapping/releases
 - Contact email: januszbedkowski@gmail.com
 
+# Camera-LiDAR calibration tools
+
+Three tools (`apps/camera_lidar_*`) supports camera calibration with LIDAR and perofming applying colors to data from session.
+
+- **camera_lidar_intrinsics_calib** -- checkerboard-based camera intrinsic calibration (OpenCV rational distortion model).
+- **camera_lidar_calibration** -- interactive LiDAR-camera extrinsic calibration: aligns a LAZ/LAS point cloud to a camera image with live GPU-shader reprojection feedback.
+- **camera_lidar_trajectory_viewer** -- multi-camera trajectory/point-cloud viewer that assigns per-point "which camera colored this point" RGB, with LAZ export, plus optional COLMAP sparse-model and ROS 2 bag export.
+
 # GNSS with RTK
 
 A portable NTRIP (Networked Transport of RTCM via Internet Protocol) client for M5Stack devices that receives RTK correction data from NTRIP casters and forwards it to u-blox GNSS receivers for high-precision positioning https://github.com/michalpelka/M5NtripClient.