Split export_laz to h and cpp

CMakeLists.txt

@@ -29,7 +29,6 @@ set(THIRDPARTY_DIRECTORY ${REPOSITORY_DIRECTORY}/3rdparty)
 set(THIRDPARTY_DIRECTORY_BINARY ${REPOSITORY_DIRECTORY}/3rdpartyBinary)
 set(EXTERNAL_LIBRARIES_DIRECTORY ${REPOSITORY_DIRECTORY}/external)
 
-
 # CPU Architecture optimization options
 set(HD_CPU_OPTIMIZATION "AUTO" CACHE STRING "CPU optimization target (AUTO, INTEL, AMD, ARM, GENERIC)")
 set_property(CACHE HD_CPU_OPTIMIZATION PROPERTY STRINGS AUTO INTEL AMD ARM GENERIC)
@@ -464,6 +463,32 @@ add_subdirectory(apps/livox_mid_360_intrinsic_calibration)
 add_subdirectory(apps/single_session_manual_coloring)
 add_subdirectory(apps/concatenate_multi_livox)
 
+include(cmake/disable_target_warnings.cmake)
+
+if(NOT WIN32)
+    disable_target_warnings(laszip)
+    disable_target_warnings(laszip_api)
+else()
+    disable_target_warnings(laszip3)
+    disable_target_warnings(laszip_api3)
+endif()
+
+
+if(NOT WIN32)
+    disable_target_warnings(tbb)
+    disable_target_warnings(tbbbind_2_5)
+else()
+    disable_target_warnings(tbb)
+endif()
+
+disable_target_warnings(freeglut)
+disable_target_warnings(freeglut_static)
+disable_target_warnings(libglew_static)
+disable_target_warnings(libglew_shared)
+disable_target_warnings(spdlog)
+disable_target_warnings(vqf)
+disable_target_warnings(Fusion)
+
 # CPack configuration
 set(CPACK_PACKAGE_NAME "hd_mapping")
 set(CPACK_PACKAGE_VERSION "${HDMAPPING_VERSION_MAJOR}.${HDMAPPING_VERSION_MINOR}.${HDMAPPING_VERSION_PATCH}")

apps/console_tools/CMakeLists.txt

@@ -18,7 +18,7 @@ target_include_directories(
                      ${EIGEN3_INCLUDE_DIR}
                      ${LASZIP_INCLUDE_DIR}/LASzip/include)
 
-target_link_libraries(multiply_timestamps_session_point_cloud_laz PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS} ${PLATFORM_LASZIP_LIB} spdlog::spdlog)
+target_link_libraries(multiply_timestamps_session_point_cloud_laz PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS} ${PLATFORM_LASZIP_LIB} core spdlog::spdlog)
 
 add_executable(multiply_timestamps_session_trajectory_csv multiply_timestamps_session_trajectory_csv.cpp)
 

apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp

@@ -21,9 +21,12 @@
 
 #include "toml_io.h"
 #include <HDMapping/Version.hpp>
+
 #include <chrono>
 #include <ctime>
 #include <mutex>
+#include <set>
+
 #include <spdlog/cfg/env.h>
 #include <spdlog/spdlog.h>
 
@@ -272,7 +275,7 @@ std::string formatCompletionTime(double remainingSeconds)
     return std::string(timeStr);
 }
 
-int get_index_3d(const set<int>& s, int k)
+int get_index_3d(const std::set<int>& s, int k)
 {
     int index = 0;
     for (auto u : s)
@@ -1451,7 +1454,7 @@ void progress_window()
 {
     ImGui::Begin("Progress", nullptr, ImGuiWindowFlags_AlwaysAutoResize);
 
-    ImGui::Text(("Working directory:\n'" + working_directory + "'").c_str());
+    ImGui::Text("Working directory: %s", working_directory.c_str());
 
     // Calculate elapsed time and ETA
     auto currentTime = std::chrono::system_clock::now();

apps/lidar_odometry_step_1/lidar_odometry.cpp

@@ -1036,7 +1036,7 @@ void filter_reference_buckets(LidarOdometryParams& params)
 
 void save_trajectory_to_ascii(std::vector<WorkerData>& worker_data, std::string output_file_name)
 {
-    ofstream file;
+    std::ofstream file;
     file.open(output_file_name);
     for (const auto& wd : worker_data)
     {
@@ -1241,7 +1241,7 @@ void save_processing_results_json(const LidarOdometryParams& params, const fs::p
             file << results.dump(4); // Pretty print with 4-space indentation
             file.close();
             std::cout << "Processing results saved to JSON file: " << json_path << std::endl;
-            std::cout << "Processing time: " << fixed << std::setprecision(2) << elapsed_seconds << " [s]" << std::endl;
+            std::cout << "Processing time: " << std::fixed << std::setprecision(2) << elapsed_seconds << " [s]" << std::endl;
         }
         else
         {

apps/lidar_odometry_step_1/lidar_odometry.h

@@ -6,7 +6,6 @@
 #include "lidar_odometry_utils.h"
 #include "toml_io.h"
 #include <HDMapping/Version.hpp>
-#include <laszip/laszip_api.h>
 #include <nlohmann/json.hpp>
 
 #include <Core/export_laz.h>

apps/lidar_odometry_step_1/lidar_odometry_gui.cpp

@@ -21,9 +21,12 @@
 
 #include "toml_io.h"
 #include <HDMapping/Version.hpp>
+
 #include <chrono>
 #include <ctime>
 #include <mutex>
+#include <set>
+
 #include <spdlog/cfg/env.h>
 #include <spdlog/spdlog.h>
 
@@ -303,7 +306,8 @@ std::vector<std::vector<Point3Di>> get_batches_of_points(std::string laz_file, i
 }
 #endif
 
-int get_index_3d(const set<int>& s, int k)
+// TODO(m.wlasiuk) : unify (multiple declarations ...)
+int get_index_3d(const std::set<int>& s, int k)
 {
     int index = 0;
     for (auto u : s)
@@ -1684,7 +1688,7 @@ void progress_window()
 {
     ImGui::Begin("Progress", nullptr, ImGuiWindowFlags_AlwaysAutoResize);
 
-    ImGui::Text(("Working directory:\n'" + working_directory + "'").c_str());
+    ImGui::Text("Working directory: %s", working_directory.c_str());
 
     // Calculate elapsed time and ETA
     auto currentTime = std::chrono::system_clock::now();

apps/lidar_odometry_step_1/lidar_odometry_utils.cpp

@@ -8,6 +8,8 @@
 
 #include <Core/hash_utils.h>
 
+#include <laszip/laszip_api.h>
+
 #include <spdlog/spdlog.h>
 
 namespace fs = std::filesystem;

apps/lidar_odometry_step_1/lidar_odometry_utils.h

@@ -12,7 +12,6 @@
 
 #include <Eigen/Dense>
 #include <common/include/cauchy.h>
-#include <laszip/laszip_api.h>
 #include <nlohmann/json.hpp>
 #include <vqf.hpp>
 

apps/livox_mid_360_intrinsic_calibration/livox_mid_360_intrinsic_calibration.cpp

@@ -28,6 +28,8 @@
 #include <filesystem>
 #include <mutex>
 
+#include <laszip/laszip_api.h>
+
 #include <spdlog/spdlog.h>
 
 #define SAMPLE_PERIOD (1.0 / 200.0)

apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp

@@ -12,6 +12,8 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/matrix_transform.hpp>
 
+#include <laszip/laszip_api.h>
+
 #include <spdlog/spdlog.h>
 
 #include <Eigen/Eigen>

apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp

@@ -1265,7 +1265,7 @@ void imu_data_gui()
             output_file_name = mandeye::fd::SaveFileDialog("Save IMU data", {}, "");
             spdlog::info("file to save: '{}'", output_file_name);
 
-            ofstream file;
+            std::ofstream file;
             file.open(output_file_name);
             file << std::setprecision(20);
             for (size_t i = 0; i < imu_data_plot.timestampLidar.size(); i++)
@@ -1800,7 +1800,7 @@ void display()
             {
                 ImGui::BeginTooltip();
                 std::string fn = laz_files[indexes_to_filename[index_rendered_points_local]];
-                ImGui::Text(fn.c_str());
+                ImGui::Text("%s", fn.c_str());
                 ImGui::EndTooltip();
             }
             ImGui::SameLine();
@@ -1809,7 +1809,7 @@ void display()
             {
                 ImGui::BeginTooltip();
                 std::string fn = laz_files[indexes_to_filename[index_rendered_points_local]];
-                ImGui::Text(fn.c_str());
+                ImGui::Text("%s", fn.c_str());
                 ImGui::EndTooltip();
             }
             ImGui::PopItemWidth();

apps/mandeye_single_session_viewer/mandeye_single_session_viewer.cpp

@@ -756,15 +756,15 @@ void openSession()
 void session_gui()
 {
     ImGui::Text("File name:");
-    ImGui::Text(session.session_file_name.c_str());
+    ImGui::Text("%s", session.session_file_name.c_str());
     ImGui::Text("Working directory:");
-    ImGui::Text(session.working_directory.c_str());
+    ImGui::Text("%s", session.working_directory.c_str());
 
     ImGui::Separator();
 
     ImGui::Text("Is ground truth: %s", session.is_ground_truth ? "yes" : "no");
     ImGui::Text("Number of clouds: %zu", session.point_clouds_container.point_clouds.size());
-    ImGui::Text("Number of points: %zu", session_total_number_of_points);
+    ImGui::Text("Number of points: %d", session_total_number_of_points);
 
     ImGui::Separator();
 
@@ -848,9 +848,9 @@ void session_gui()
 void index_gui()
 {
     ImGui::Text("File name:");
-    ImGui::Text(session.point_clouds_container.point_clouds[index_rendered_points_local].file_name.c_str());
+    ImGui::Text("%s", session.point_clouds_container.point_clouds[index_rendered_points_local].file_name.c_str());
 
-    ImGui::Text("Current index: %zu / %zu", index_rendered_points_local, session.point_clouds_container.point_clouds.size());
+    ImGui::Text("Current index: %d / %zu", index_rendered_points_local, session.point_clouds_container.point_clouds.size());
 
     ImGui::Separator();
 
@@ -1319,7 +1319,7 @@ void display()
             if (ImGui::IsItemHovered())
             {
                 ImGui::BeginTooltip();
-                ImGui::Text(session.point_clouds_container.point_clouds[index_rendered_points_local].file_name.c_str());
+                ImGui::Text("%s", session.point_clouds_container.point_clouds[index_rendered_points_local].file_name.c_str());
                 double ts = (session.point_clouds_container.point_clouds[index_rendered_points_local].timestamps[0] -
                              session.point_clouds_container.point_clouds[0].timestamps[0]) /
                     1e9;
@@ -1333,7 +1333,7 @@ void display()
             if (ImGui::IsItemHovered())
             {
                 ImGui::BeginTooltip();
-                ImGui::Text(session.point_clouds_container.point_clouds[index_rendered_points_local].file_name.c_str());
+                ImGui::Text("%s", session.point_clouds_container.point_clouds[index_rendered_points_local].file_name.c_str());
                 double ts = (session.point_clouds_container.point_clouds[index_rendered_points_local].timestamps[0] -
                              session.point_clouds_container.point_clouds[0].timestamps[0]) /
                     1e9;

apps/manual_color/manual_color.cpp

@@ -637,8 +637,8 @@ void TimeStampCount()
         }
 
         ImGui::Text("Packed uint32_t: %u", packedValue);
-        ImGui::Text("Decoded timestamp: %llu", decodedValue);
-        ImGui::Text("Timestamp: %llu", fullTimestamp);
+        ImGui::Text("Decoded timestamp: %zu", decodedValue);
+        ImGui::Text("Timestamp: %zu", fullTimestamp);
         double timestampSeconds = static_cast<double>(fullTimestamp) / 1'000'000'000.0;
         ImGui::Text("Timestamp (formatted): %.6f", timestampSeconds);
 
@@ -1264,7 +1264,7 @@ void display()
     {
         auto index = std::distance(SystemData::pointPickedImage.begin(), it);
         const auto& p = *it;
-        ImGui::Text("%d : %.1f,%.1f", index, p.x, p.y);
+        ImGui::Text("%d : %.1f,%.1f", (int)index, p.x, p.y);
         ImGui::SameLine();
         const auto label = std::string("-##2s") + std::to_string(index);
         if (ImGui::Button(label.c_str()))

apps/multi_session_registration/multi_session_registration.cpp

@@ -400,7 +400,7 @@ void loop_closure_gui()
         }
 
         std::string number_active_edges = "number_edges: " + std::to_string(edges.size());
-        ImGui::Text(number_active_edges.c_str());
+        ImGui::Text("%s", number_active_edges.c_str());
         if (edges.size() > 0)
         {
             ImGui::Checkbox("manipulate_active_edge", &manipulate_active_edge);
@@ -437,13 +437,13 @@ void loop_closure_gui()
                 }
 
                 std::string txt = "index_session_from: " + std::to_string(edges[index_active_edge].index_session_from);
-                ImGui::Text(txt.c_str());
+                ImGui::Text("%s", txt.c_str());
                 txt = "index_session_to: " + std::to_string(edges[index_active_edge].index_session_to);
-                ImGui::Text(txt.c_str());
+                ImGui::Text("%s", txt.c_str());
                 txt = "index_from: " + std::to_string(edges[index_active_edge].index_from);
-                ImGui::Text(txt.c_str());
+                ImGui::Text("%s", txt.c_str());
                 txt = "index_to: " + std::to_string(edges[index_active_edge].index_to);
-                ImGui::Text(txt.c_str());
+                ImGui::Text("%s", txt.c_str());
 
                 if (remove_edge_index != -1)
                 {
@@ -2309,9 +2309,9 @@ void settings_gui()
 
             for (size_t i = 0; i < project_settings.session_file_names.size(); i++)
             {
-                ImGui::Text(truncPath(project_settings.session_file_names[i]).c_str());
+                ImGui::Text("%s", truncPath(project_settings.session_file_names[i]).c_str());
                 if (ImGui::IsItemHovered())
-                    ImGui::SetTooltip(project_settings.session_file_names[i].c_str());
+                    ImGui::SetTooltip("%s", project_settings.session_file_names[i].c_str());
 
                 if (project_settings.session_file_names.size() == sessions.size())
                 {

apps/multi_view_tls_registration/multi_view_tls_registration_gui.cpp

@@ -795,13 +795,7 @@ void pose_graph_slam_gui()
             tls_registration.pose_graph_slam.ndt_bucket_size[0] = tls_registration.ndt.bucket_size[0];
             tls_registration.pose_graph_slam.ndt_bucket_size[1] = tls_registration.ndt.bucket_size[1];
             tls_registration.pose_graph_slam.ndt_bucket_size[2] = tls_registration.ndt.bucket_size[2];
-            // double rms_initial = 0.0;
-            // double rms_final = 0.0;
-            // double mui = 0.0;
             tls_registration.pose_graph_slam.optimize(session.point_clouds_container);
-            // pose_graph_slam.optimize(point_clouds_container, rms_initial, rms_final, mui);
-            // spdlog::info("mean uncertainty impact: " << mui << " rms_initial: " << rms_initial << " rms_final: " << rms_final <<
-            // std::endl;
         }
 
 #if WITH_GTSAM
@@ -816,8 +810,6 @@ void pose_graph_slam_gui()
             double rms_final = 0.0;
             double mui = 0.0;
             tls_registration.pose_graph_slam.optimize_with_GTSAM(session.point_clouds_container);
-            // spdlog::info("mean uncertainty impact: " << mui << " rms_initial: " << rms_initial << " rms_final: " << rms_final <<
-            // std::endl;
         }
 #endif
 
@@ -893,7 +885,7 @@ void observation_picking_gui()
         }
         ImGui::EndDisabled();
 
-        ImGui::Text((std::string("Number of observations: ") + std::to_string(observation_picking.observations.size())).c_str());
+        ImGui::Text("Number of observations: %zu", observation_picking.observations.size());
 
         if (ImGui::Button("Load observations"))
         {
@@ -934,7 +926,7 @@ void observation_picking_gui()
                 observation_picking.export_observation(output_file_name);
         }
 
-        ImGui::Text((std::string("Loaded observations from file: '") + observations_file_name + std::string("'")).c_str());
+        ImGui::Text("Loaded observations from file: %s", observations_file_name.c_str());
 
         if (ImGui::Button("Compute RMS (xy)"))
         {
@@ -1829,7 +1821,7 @@ void settings_gui()
     ImGui::Begin("Settings", &is_settings_gui);
     {
         std::string wd = "Working directory: '" + session.working_directory + "'";
-        ImGui::Text(wd.c_str());
+        ImGui::Text("%s", wd.c_str());
 
         ImGui::NewLine();
 
@@ -1999,7 +1991,7 @@ void settings_gui()
             }
         }
         ImGui::SameLine();
-        ImGui::Text(session.point_clouds_container.initial_poses_file_name.c_str());
+        ImGui::Text("%s", session.point_clouds_container.initial_poses_file_name.c_str());
 
         if (ImGui::Button("Update poses from RESSO file"))
         {
@@ -2047,7 +2039,7 @@ void settings_gui()
             }
         }
         ImGui::SameLine();
-        ImGui::Text(session.point_clouds_container.poses_file_name.c_str());
+        ImGui::Text("%s", session.point_clouds_container.poses_file_name.c_str());
 
         ImGui::Separator();
 
@@ -3258,9 +3250,9 @@ void display()
             {
                 ImGui::BeginTooltip();
                 ImGui::Text("Loaded session:");
-                ImGui::Text(std::string(session.session_file_name).c_str());
+                ImGui::Text("%s", session.session_file_name.c_str());
                 ImGui::Separator();
-                ImGui::Text("Total number of points: %zu", session_total_number_of_points);
+                ImGui::Text("Total number of points: %d", session_total_number_of_points);
 
                 if (ImGui::BeginTable("Dimensions", 4))
                 {