MapsHD · JanuszBedkowski · Apr 2, 2026 · Mar 31, 2026 · Mar 31, 2026
diff --git a/.github/workflows/python-bindings-linux.yml b/.github/workflows/python-bindings-linux.yml
@@ -45,7 +45,7 @@ jobs:
         run: |
           cmake -B ${{github.workspace}}/build_pybind \
             -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
-            -DPYBIND=ON
+            -DBUILD_WITH_PYBIND=ON
 
       - name: Build Python bindings
         run: cmake --build ${{github.workspace}}/build_pybind --target pybind_all --config ${{env.BUILD_TYPE}}

diff --git a/.github/workflows/python-bindings-windows.yml b/.github/workflows/python-bindings-windows.yml
@@ -40,7 +40,7 @@ jobs:
         run: |
           cmake -B ${{github.workspace}}/build_pybind `
             -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
-            -DPYBIND=ON `
+            -DBUILD_WITH_PYBIND=ON `
         shell: pwsh
 
       - name: Build Python bindings

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -25,12 +25,13 @@ set_property(CACHE HD_CPU_OPTIMIZATION PROPERTY STRINGS AUTO INTEL AMD ARM GENER
 # Options to enable / disable specific components
 option(BUILD_WITH_CLI_TOOLS "Build with command line tools" ON)
 option(BUILD_WITH_HD_MAPPER_APPLICATION "Build with hd_mapper tool" OFF)
-option(UTL_PROFILER_DISABLE "Disable UTL profiler (zero overhead when ON)" ON)
+option(BUILD_WITH_QUICK_START_DEMO "Build with quick_start_demo" OFF)
+option(BUILD_WITH_UTL_PROFILER_DISABLED "Disable UTL profiler (zero overhead when ON)" ON)
 option(BUILD_WITH_BUNDLED_FREEGLUT "Build with bundled FreeGlut" ON)
 option(BUILD_WITH_BUNDLED_GLEW "Build with bundled GLEW" ON)
 option(BUILD_WITH_BUNDLED_LIBLASZIP "Build with bundled Lib LASZIP" ON)
 option(BUILD_WITH_BUNDLED_ONETBB "Build with bundled oneTBB" ON)
-option(PYBIND "Enable pybind11 bindings" OFF)
+option(BUILD_WITH_PYBIND "Enable pybind11 bindings" OFF)
 
 # Add definitions for all projects
 add_definitions(-DHDMAPPING_VERSION_MAJOR=${HDMAPPING_VERSION_MAJOR})
@@ -68,6 +69,12 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 
+# TODO(mwlasiuk) : fix
+# if(WIN32)
+#     set(CMAKE_PDB_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+#     set(CMAKE_COMPILE_PDB_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+# endif()
+
 # Include cmake configs
 include(cmake/cpu_optimizations.cmake)
 include(cmake/disable_target_warnings.cmake)
@@ -175,8 +182,8 @@ MESSAGE(STATUS "Using bundled spdlog from: ${THIRDPARTY_DIRECTORY}/spdlog")
 add_subdirectory(${THIRDPARTY_DIRECTORY}/UTL)
 MESSAGE(STATUS "Using bundled UTL from: ${THIRDPARTY_DIRECTORY}/UTL")
 
-if(PYBIND)
-    message(STATUS "PYBIND is enabled: fetching pybind.")
+if(BUILD_WITH_PYBIND)
+    message(STATUS "BUILD_WITH_PYBIND is enabled: fetching pybind.")
     include(FetchContent)
     set(pybind11_SOURCE_DIR "${CMAKE_BINARY_DIR}/3rdparty/pybind11-src")
     set(pybind11_BINARY_DIR "${CMAKE_BINARY_DIR}/3rdparty/pybind11-build")
@@ -193,13 +200,17 @@ if(PYBIND)
     endif()
     add_subdirectory(pybind)
 else()
-    message(STATUS "PYBIND is disabled.")
+    message(STATUS "BUILD_WITH_PYBIND is disabled.")
 endif()
 
 
 add_subdirectory(${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
 add_subdirectory(${THIRDPARTY_DIRECTORY}/Fusion/Fusion)
 
+add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/plycpp)
+add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/wgs84_do_puwg92)
+add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/WGS84toCartesian)
+
 add_subdirectory(core)
 
 set(CORE_LIBRARIES core)
@@ -213,6 +224,10 @@ if(BUILD_WITH_HD_MAPPER_APPLICATION)
     add_subdirectory(apps/hd_mapper)
 endif()
 
+if(BUILD_WITH_QUICK_START_DEMO)
+    add_subdirectory(apps/quick_start_demo)
+endif()
+
 add_subdirectory(apps/lidar_odometry_step_1)    
 add_subdirectory(apps/manual_color)
 add_subdirectory(apps/multi_session_registration)
@@ -221,14 +236,13 @@ add_subdirectory(apps/split_multi_livox)
 add_subdirectory(apps/precision_forestry_tools)
 add_subdirectory(apps/mandeye_raw_data_viewer)
 add_subdirectory(apps/compare_trajectories)
-#add_subdirectory(apps/quick_start_demo)
 add_subdirectory(apps/mandeye_mission_recorder_calibration)
 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)
 
-# NOTE(m.wlasiuk) : disable warnings for third party libraries so they do not pollute build logs
+# NOTE(mwlasiuk) : disable warnings for third party libraries so they do not pollute build logs
 
 ###
 ### DISABLE WARNINGS FOR THIRDPARTY CODE - START

diff --git a/apps/lidar_odometry_step_1/CMakeLists.txt b/apps/lidar_odometry_step_1/CMakeLists.txt
@@ -22,7 +22,7 @@ add_executable(
 
 target_compile_definitions(lidar_odometry_step_1 PRIVATE
     WITH_GUI=1
-    $<$<BOOL:${UTL_PROFILER_DISABLE}>:UTL_PROFILER_DISABLE>)
+    $<$<BOOL:${BUILD_WITH_UTL_PROFILER_DISABLED}>:BUILD_WITH_UTL_PROFILER_DISABLED>)
 
 target_include_directories(
   lidar_odometry_step_1
@@ -47,14 +47,15 @@ target_include_directories(
 
 target_link_libraries(
           lidar_odometry_step_1
-          PRIVATE vqf Fusion
+          PRIVATE 
+          vqf 
+          Fusion
           unordered_dense::unordered_dense
           spdlog::spdlog
           UTL::include
-          # PRIVATE ${THIRDPARTY_DIRECTORY}/glew-2.2.0/lib/Release/x64/glew32s.lib
+          OpenGL::GLU
           ${FREEGLUT_LIBRARY}
           ${OPENGL_gl_LIBRARY}
-          OpenGL::GLU
           ${PLATFORM_LASZIP_LIB}
           ${PLATFORM_MISCELLANEOUS_LIBS}
           ${CORE_LIBRARIES}
@@ -80,7 +81,7 @@ add_executable(
 
 target_compile_definitions(drag_folder_with_mandeye_data_and_drop_here-precision_forestry PRIVATE
     WITH_GUI=1
-    $<$<BOOL:${UTL_PROFILER_DISABLE}>:UTL_PROFILER_DISABLE>)
+    $<$<BOOL:${BUILD_WITH_UTL_PROFILER_DISABLED}>:BUILD_WITH_UTL_PROFILER_DISABLED>)
 
 target_include_directories(
   drag_folder_with_mandeye_data_and_drop_here-precision_forestry
@@ -105,14 +106,15 @@ target_include_directories(
 
 target_link_libraries(
           drag_folder_with_mandeye_data_and_drop_here-precision_forestry
-          PRIVATE vqf Fusion
+          PRIVATE 
+          vqf 
+          Fusion
           unordered_dense::unordered_dense
           spdlog::spdlog
           UTL::include
-          # PRIVATE ${THIRDPARTY_DIRECTORY}/glew-2.2.0/lib/Release/x64/glew32s.lib
+          OpenGL::GLU
           ${FREEGLUT_LIBRARY}
           ${OPENGL_gl_LIBRARY}
-          OpenGL::GLU
           ${PLATFORM_LASZIP_LIB}
           ${PLATFORM_MISCELLANEOUS_LIBS}
           ${CORE_LIBRARIES}

diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils.h b/apps/lidar_odometry_step_1/lidar_odometry_utils.h
@@ -16,6 +16,8 @@
 #include <nlohmann/json.hpp>
 #include <vqf.hpp>
 
+#include <HDMapping/Version.hpp>
+
 #include <Core/ndt.h>
 #include <Core/structures.h>
 #include <Core/transformations.h>
@@ -39,12 +41,7 @@ using NDTBucketMapType2 = ankerl::unordered_dense::map<uint64_t, NDT::Bucket2>;
 // Helper function for getting software version from CMake macros
 inline std::string get_software_version()
 {
-#ifdef HDMAPPING_VERSION_MAJOR
-    return std::to_string(HDMAPPING_VERSION_MAJOR) + "." + std::to_string(HDMAPPING_VERSION_MINOR) + "." +
-        std::to_string(HDMAPPING_VERSION_PATCH);
-#else
-    return "0.84.0"; // fallback if CMake macros not available
-#endif
+    return HDMAPPING_VERSION_STRING;
 }
 
 struct LidarOdometryParams

diff --git a/apps/livox_mid_360_intrinsic_calibration/CMakeLists.txt b/apps/livox_mid_360_intrinsic_calibration/CMakeLists.txt
@@ -28,7 +28,7 @@ target_include_directories(
   ${THIRDPARTY_DIRECTORY}/observation_equations/codes
   ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
 
-target_compile_definitions(livox_mid_360_intrinsic_calibration PRIVATE UTL_PROFILER_DISABLE)
+target_compile_definitions(livox_mid_360_intrinsic_calibration PRIVATE BUILD_WITH_UTL_PROFILER_DISABLED)
 
 target_link_libraries(
   livox_mid_360_intrinsic_calibration

diff --git a/apps/mandeye_mission_recorder_calibration/CMakeLists.txt b/apps/mandeye_mission_recorder_calibration/CMakeLists.txt
@@ -38,7 +38,7 @@ target_include_directories(
   ${THIRDPARTY_DIRECTORY}/observation_equations/codes
   ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
 
-target_compile_definitions(mandeye_mission_recorder_calibration PRIVATE UTL_PROFILER_DISABLE)
+target_compile_definitions(mandeye_mission_recorder_calibration PRIVATE BUILD_WITH_UTL_PROFILER_DISABLED)
 
 target_link_libraries(
   mandeye_mission_recorder_calibration

diff --git a/apps/mandeye_raw_data_viewer/CMakeLists.txt b/apps/mandeye_raw_data_viewer/CMakeLists.txt
@@ -42,7 +42,7 @@ target_include_directories(
   ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp
   ${THIRDPARTY_DIRECTORY}/Fusion/Fusion)
 
-target_compile_definitions(mandeye_raw_data_viewer PRIVATE UTL_PROFILER_DISABLE)
+target_compile_definitions(mandeye_raw_data_viewer PRIVATE BUILD_WITH_UTL_PROFILER_DISABLED)
 
 target_link_libraries(
   mandeye_raw_data_viewer

diff --git a/apps/multi_view_tls_registration/CMakeLists.txt b/apps/multi_view_tls_registration/CMakeLists.txt
@@ -42,12 +42,14 @@ target_include_directories(
 
   target_link_libraries(
           multi_view_tls_registration_step_2
-          # PRIVATE ${THIRDPARTY_DIRECTORY}/glew-2.2.0/lib/Release/x64/glew32s.lib
-          PRIVATE ${FREEGLUT_LIBRARY}
+          PRIVATE 
+          WGS84toCartesian
+          wgs84_do_puwg92
           unordered_dense::unordered_dense
           spdlog::spdlog
-          ${OPENGL_gl_LIBRARY}
           OpenGL::GLU
+          ${FREEGLUT_LIBRARY}
+          ${OPENGL_gl_LIBRARY}
           ${PLATFORM_LASZIP_LIB}
           ${PLATFORM_MISCELLANEOUS_LIBS}
           ${CORE_LIBRARIES}

diff --git a/apps/multi_view_tls_registration/multi_view_tls_registration_gui.cpp b/apps/multi_view_tls_registration/multi_view_tls_registration_gui.cpp
@@ -44,8 +44,8 @@
 
 #include <HDMapping/Version.hpp>
 
-#include "WGS84toCartesian.hpp"
-#include "wgs84_do_puwg92.h"
+#include "WGS84toCartesian/WGS84toCartesian.hpp"
+#include "wgs84_do_puwg92/wgs84_do_puwg92.h"
 
 #include <proj.h>
 #ifdef _WIN32

diff --git a/apps/quick_start_demo/CMakeLists.txt b/apps/quick_start_demo/CMakeLists.txt
@@ -28,16 +28,17 @@ target_include_directories(
   ${THIRDPARTY_DIRECTORY}/observation_equations/codes
   ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
 
-target_compile_definitions(quick_start_demo PRIVATE UTL_PROFILER_DISABLE)
+target_compile_definitions(quick_start_demo PRIVATE BUILD_WITH_UTL_PROFILER_DISABLED)
 
 target_link_libraries(
   quick_start_demo
   PRIVATE vqf
   spdlog::spdlog
   UTL::include
+  OpenGL::GLU
+  unordered_dense::unordered_dense
   ${FREEGLUT_LIBRARY}
   ${OPENGL_gl_LIBRARY}
-  OpenGL::GLU
   ${PLATFORM_LASZIP_LIB}
   ${CORE_LIBRARIES}
   ${GUI_LIBRARIES}

diff --git a/apps/quick_start_demo/quick_start_demo.cpp b/apps/quick_start_demo/quick_start_demo.cpp
@@ -15,13 +15,13 @@
 
 #include <Eigen/Eigen>
 
-#include <transformations.h>
+#include <Core/transformations.h>
+#include <Core/export_laz.h>
 
 #include <portable-file-dialogs.h>
 
 #include <filesystem>
 #include "../lidar_odometry_step_1/lidar_odometry_utils.h"
-#include <export_laz.h>
 #include <HDMapping/Version.hpp>
 
 #include <mutex>
@@ -711,7 +711,7 @@ bool compute_step_2_demo(std::vector<WorkerData> &worker_data, LidarOdometryPara
 
 int main(int argc, char *argv[])
 {
-    #if 0 
+    #if 0
     //ToDo
     params.in_out_params_indoor.resolution_X = 0.3;
     params.in_out_params_indoor.resolution_Y = 0.3;

diff --git a/cmake/implot.cmake b/cmake/implot.cmake
@@ -2,7 +2,6 @@ include_guard()
 
 set(IMPLOT_LIBRARY_DIRECTORY ${THIRDPARTY_DIRECTORY}/implot)
 
-
 set(IMPLOT_SOURCE_FILES
         ${IMPLOT_LIBRARY_DIRECTORY}/implot.cpp
         ${IMPLOT_LIBRARY_DIRECTORY}/implot_items.cpp

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -24,9 +24,9 @@ set(CORE_BASE_SOURCES
     src/pose_graph_slam.cpp
     src/registration_plane_feature.cpp
     src/session.cpp
-    # src/utils.cpp # TODO(mwlasiuk) : broken AF ...
-    ${EXTERNAL_LIBRARIES_DIRECTORY}/src/wgs84_do_puwg92.cc
-    ${EXTERNAL_LIBRARIES_DIRECTORY}/src/plycpp.cpp
+   # # src/utils.cpp # TODO(mwlasiuk) : broken AF ...
+   # ${EXTERNAL_LIBRARIES_DIRECTORY}/src/wgs84_do_puwg92.cc
+   # ${EXTERNAL_LIBRARIES_DIRECTORY}/src/plycpp.cpp
 )
 
 set(CORE_GUI_SOURCES
@@ -46,7 +46,7 @@ function(add_core_target target_name with_gui)
 
     add_library(${target_name} STATIC ${SOURCES})
     target_compile_definitions(${target_name} PRIVATE ${DEFINES})
-    target_link_libraries(${target_name} PRIVATE ${PLATFORM_LASZIP_LIB} ${PLATFORM_MISCELLANEOUS_LIBS} spdlog::spdlog vqf Fusion)
+    target_link_libraries(${target_name} PRIVATE ${PLATFORM_LASZIP_LIB} ${PLATFORM_MISCELLANEOUS_LIBS} PROJ::proj spdlog::spdlog vqf Fusion wgs84_do_puwg92 plycpp WGS84toCartesian)
     target_include_directories(${target_name} PRIVATE
         include
         ${EIGEN3_INCLUDE_DIR}
@@ -58,8 +58,6 @@ function(add_core_target target_name with_gui)
         ${THIRDPARTY_DIRECTORY}/Fusion/Fusion
     )
 
-    target_link_libraries(${target_name} PRIVATE PROJ::proj)
-
     if(${with_gui})
         target_include_directories(${target_name} PRIVATE
             ${THIRDPARTY_DIRECTORY}/imgui

diff --git a/core/src/gnss.cpp b/core/src/gnss.cpp
@@ -3,8 +3,8 @@
 #include <Core/gnss.h>
 #include <Core/nmea.h>
 
-#include <WGS84toCartesian.hpp>
-#include <wgs84_do_puwg92.h>
+#include <WGS84toCartesian/WGS84toCartesian.hpp>
+#include <wgs84_do_puwg92/wgs84_do_puwg92.h>
 
 #if WITH_GUI == 1
 #include <GL/freeglut.h>

diff --git a/core/src/point_cloud.cpp b/core/src/point_cloud.cpp
@@ -7,7 +7,7 @@
 #include <GL/freeglut.h>
 #endif
 
-#include <plycpp.h>
+#include <plycpp/plycpp.h>
 
 #include <laszip/laszip_api.h>
 

diff --git a/docs/CMAKE_CONFIGURATION.md b/docs/CMAKE_CONFIGURATION.md
@@ -44,7 +44,7 @@ cmake -DCMAKE_BUILD_TYPE=Release \
 ### Python Bindings
 ```bash
 # Enable Python bindings
-cmake -DCMAKE_BUILD_TYPE=Release -DPYBIND=ON ..
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_PYBIND=ON ..
 ```
 
 ### Complete Configuration Examples
@@ -55,7 +55,7 @@ mkdir build-dev
 cd build-dev
 cmake -DCMAKE_BUILD_TYPE=Debug \
     -DHD_CPU_OPTIMIZATION=AMD \
-    -DPYBIND=ON ..
+    -DBUILD_WITH_PYBIND=ON ..
 cmake --build . --config Debug
 ```
 
@@ -90,7 +90,7 @@ make pack
 | `BUILD_WITH_BUNDLED_FREEGLUT` | ON | ON, OFF | Use bundled FreeGLUT library |
 | `BUILD_WITH_BUNDLED_EIGEN` | ON | ON, OFF | Use bundled Eigen library |
 | `BUILD_WITH_BUNDLED_LIBLASZIP` | ON | ON, OFF | Use bundled LASzip library |
-| `PYBIND` | OFF | ON, OFF | Enable Python bindings |
+| `BUILD_WITH_PYBIND` | OFF | ON, OFF | Enable Python bindings |
 
 ## Troubleshooting
 
@@ -107,7 +107,7 @@ cmake -DCMAKE_BUILD_TYPE=Release ..
 cmake -LA .
 
 # View only HDMapping variables  
-cmake -LA . | grep -E "(HD_|BUILD_WITH_|PYBIND)"
+cmake -LA . | grep -E "(HD_|BUILD_WITH_|BUILD_WITH_PYBIND)"
 ```
 
 ### Build Errors

diff --git a/external/WGS84toCartesian/CMakeLists.txt b/external/WGS84toCartesian/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 4.0.0)
+
+project(WGS84toCartesian)
+
+set(WGS84TOCARTESIAN_INCLUDE_DIRECTORIES ${EXTERNAL_LIBRARIES_DIRECTORY}/WGS84toCartesian/include)
+
+add_library(WGS84toCartesian STATIC
+    src/WGS84toCartesian.cpp
+    ${WGS84TOCARTESIAN_INCLUDE_DIRECTORIES}/WGS84toCartesian/WGS84toCartesian.hpp)
+
+target_include_directories(WGS84toCartesian PUBLIC ${WGS84TOCARTESIAN_INCLUDE_DIRECTORIES})
diff --git a/external/include/WGS84toCartesian.hpp → ...ude/WGS84toCartesian/WGS84toCartesian.hpp b/external/include/WGS84toCartesian.hpp → ...ude/WGS84toCartesian/WGS84toCartesian.hpp
diff --git a/external/WGS84toCartesian/src/WGS84toCartesian.cpp b/external/WGS84toCartesian/src/WGS84toCartesian.cpp
@@ -0,0 +1 @@
+#include <WGS84toCartesian/WGS84toCartesian.hpp>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		#include <WGS84toCartesian/WGS84toCartesian.hpp>