#6 dodanie wizualizacji obrazu z ov2slama

GUI_OV2SLAM/CMakeLists.txt → CMakeLists.txt

@@ -15,7 +15,8 @@ find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
 # Znajdź OpenGL i GLFW
 find_package(OpenGL REQUIRED)
 find_package(glfw3 REQUIRED)
@@ -54,13 +55,15 @@ target_include_directories(imgui_visualizer PUBLIC
     ${IMGUI_DIR}
     ${IMGUI_DIR}/backends
     ${IMPLOT_DIR}
+    ${OpenCV_INCLUDE_DIRS}
 )
 
 # Link libraries
 target_link_libraries(imgui_visualizer
     OpenGL::GL
     glfw
     GLEW::GLEW
+    ${OpenCV_LIBS}
 )
 
 # ROS 2 dependencies
@@ -71,6 +74,7 @@ ament_target_dependencies(imgui_visualizer
     geometry_msgs
     nav_msgs
     tf2_ros
+    cv_bridge
 )
 
 # Install executable

GUI_OV2SLAM/Dockerfile → Dockerfile

@@ -40,14 +40,15 @@ WORKDIR /ws/src/imgui_app/Thirdparty
 RUN git clone https://github.com/ocornut/imgui.git
 WORKDIR /ws/src/imgui_app/Thirdparty/imgui
 RUN git checkout docking
-# ImGui to header-only library, nie wymaga kompilacji
+##############
+### Logo #####
+##############
 
 ##################
 ### ImPlot     ###
 ##################
 WORKDIR /ws/src/imgui_app/Thirdparty
 RUN git clone https://github.com/epezent/implot.git
-# ImPlot również header-only
 
 ###################
 ### GLM (math)  ###
@@ -70,11 +71,21 @@ RUN apt update \
         ros-${ROS_DISTRO}-tf2 \
         ros-${ROS_DISTRO}-tf2-ros \
         ros-${ROS_DISTRO}-tf2-geometry-msgs \
-        ros-${ROS_DISTRO}-image-transport \
         ros-${ROS_DISTRO}-cv-bridge \
-        ros-${ROS_DISTRO}-pcl-ros \
-        ros-${ROS_DISTRO}-pcl-conversions \
-        ros-${ROS_DISTRO}-visualization-msgs \
+    && rm -rf /var/lib/apt/lists/*
+######################
+### Cyclone DDS    ###
+######################
+RUN apt update \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+###################
+### OpenCV      ###
+###################
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+        libopencv-dev \
     && rm -rf /var/lib/apt/lists/*
 
 ############################
@@ -83,6 +94,11 @@ RUN apt update \
 ADD . /ws/src/imgui_app
 
 WORKDIR /ws
+
+COPY logo.png /ws/src/imgui_app/logo.png
+
+RUN mkdir -p /ws/trajectories
+
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && colcon build --symlink-install
 
 # Ustaw zmienne środowiskowe dla X11
@@ -93,6 +109,10 @@ ENV QT_X11_NO_MITSHM=1
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
 RUN echo "source /ws/install/setup.bash" >> ~/.bashrc
 
+# Ustaw Cyclone DDS jako domyślny
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DOMAIN_ID=0
+
 WORKDIR /ws
 
 CMD ["/bin/bash"]

README.md

@@ -0,0 +1,37 @@
+# GUI_OV2SLAM
+PowerViz to aplikacja GUI pozwalająca na żywo wizualizować mi.n parametry takie jak pozycja, prędkość, obraz, trajektora czy chmura punktów z $OV^2SLAM$
+<img width="1786" height="977" alt="Screenshot from 2025-12-07 16-40-43" src="https://github.com/user-attachments/assets/1da78d87-56bf-4f75-b3cb-b1d9bd3a27a8" />
+## Uruchomienie
+Na początku pobieramy repozytorium
+```bash
+git clone https://github.com/PUT-POWERTRAIN/GUI_OV2SLAM.git
+```
+Następnie wchodzimy w folder repozytorium
+```bash
+cd GUI_OV2SLAM
+```
+Budujemy dockera
+```bash
+docker build -t imgui_ros2_gui:latest .
+```
+Następnie musimy dać dockerowi uprawnienia do wyświetlania okien na ekranie
+```bash
+xhost +local:docker
+```
+I uruchamiamy dockera tą komendą
+```bash
+docker run -it --rm \
+  --name imgui_gui \
+  --network host \
+  -e DISPLAY=$DISPLAY \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+  imgui_ros2_gui:latest
+```
+Będąc w dockerze musimy zsourcować środowisko
+```bash
+source /ws/install/setup.bash
+```
+Ostatecznie gdy chcemy uruchomić aplikację włączamy plik launch
+```bash
+ros2 launch imgui_app visualizer.launch.py
+```

GUI_OV2SLAM/launch/visualizer.launch.py → launch/visualizer.launch.py

@@ -4,29 +4,39 @@
 from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
-    # Deklaruj argumenty launch (opcjonalne - można je nadpisać z CLI)
+    # Deklaruj argumenty launch
     vo_pose_topic_arg = DeclareLaunchArgument(
         'vo_pose_topic',
         default_value='/vo_pose',
         description='Topic name for VO pose'
     )
 
-
-
+    image_track_topic_arg = DeclareLaunchArgument(  
+        'image_track_topic',
+        default_value='/image_track',
+        description='Topic name for image tracking'
+    )
+    point_cloud_topic_arg = DeclareLaunchArgument(  
+        'point_cloud_topic',
+        default_value='/point_cloud',
+        description='Topic name for point cloud tracking'
+    )
     # Node z parametrami
     visualizer_node = Node(
-        package='imgui_app',  # Zmień na nazwę swojego pakietu
-        executable='imgui_visualizer',       # Nazwa pliku wykonywalnego
+        package='imgui_app',
+        executable='imgui_visualizer',
         name='imgui_visualizer',
         output='screen',
         parameters=[{
             'vo_pose_topic': LaunchConfiguration('vo_pose_topic'),
-
+            'image_track_topic': LaunchConfiguration('image_track_topic'),
+            'point_cloud_topic': LaunchConfiguration('point_cloud_topic'),
         }]
     )
 
     return LaunchDescription([
         vo_pose_topic_arg,
-
+        image_track_topic_arg,
+        point_cloud_topic_arg,
         visualizer_node
     ])