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Fix a crash in single-argument mode, add param dumping #537

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Merged
JanuszBedkowski merged 1 commit into from
Sep 23, 2026
Merged

Fix a crash in single-argument mode, add param dumping #537

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47 changes: 45 additions & 2 deletions apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2667,16 +2667,50 @@ int main(int argc, char* argv[])
{
std::cout << winTitle << "\n\n"
<< "USAGE:\n"
<< std::filesystem::path(argv[0]).stem().string() << " <input_folder> <parameter_file> <output_folder> /?\n\n"
<< std::filesystem::path(argv[0]).stem().string() << " <input_folder> <parameter_file> <output_folder> /?\n"
<< std::filesystem::path(argv[0]).stem().string() << " <input_folder>\n"
<< std::filesystem::path(argv[0]).stem().string() << " --dump-default-params <file.toml>\n\n"
<< "where\n"
<< " <input_folder> Path where scan files are located (*.csv, *.laz, *.sn)\n"
<< " <parameter_file> Path to TOML parameter file (*.toml)\n"
<< " <output_folder> Path where processed session should be stored\n"
<< " (with <input_folder> alone, default parameters are used and the\n"
<< " session is stored in the next free <input_folder>/lio_result_N,\n"
<< " as the GUI does)\n"
<< " --dump-default-params <file.toml>\n"
<< " Write the default parameters to <file.toml> and exit\n"
<< " -h, /h, --help, /? Show this help and exit\n\n";

return 0;
}

for (int i = 1; i < argc; ++i)
{
if (std::string(argv[i]) == "--dump-default-params")
{
if (i + 1 >= argc)
{
std::cerr << "--dump-default-params requires an output file (*.toml)" << std::endl;
return 1;
}
const fs::path out_file(argv[i + 1]);
// Value-initialised, as the static `params` is: the NDT grid members carry no
// initialisers, and a default-initialised local would dump stack garbage.
LidarOdometryParams default_params{};
set_lidar_odometry_default_params(default_params);
TomlIO toml_io;
toml_io.SaveParametersToTomlFile(out_file.string(), default_params);
std::error_code ec;
if (!fs::exists(out_file, ec) || fs::file_size(out_file, ec) == 0 || ec)
{
std::cerr << "Could not write default parameters to: " << out_file.string() << std::endl;
return 1;
}
std::cout << "Default parameters saved to: " << out_file.string() << std::endl;
return 0;
}
}

if (argc == 2) // running from command line
{
auto path = fs::path(argv[1]);
Expand All @@ -2699,7 +2733,16 @@ int main(int argc, char* argv[])
std::cout << "calculations finished computation at " << std::ctime(&end_time)
<< "Elapsed time: " << formatTime(elapsed_seconds.count()).c_str() << "s\n";

save_results(false, elapsed_seconds.count(), working_directory, worker_data, params, argv[3]);
// Only the input folder was given: store the session where the GUI would,
// in the next free lio_result_N under the working directory.
if (working_directory.empty())
{
std::cerr << "No Mandeye data could be loaded from: '" << path.string() << "'" << std::endl;
return 1;
}
const fs::path result_dir = get_next_result_path(working_directory);
save_results(false, elapsed_seconds.count(), working_directory, worker_data, params, result_dir);
std::cout << "Results saved to folder: '" << result_dir.string() << "'" << std::endl;
}
}
else if (argc == 4) // runnning from command line with custom params
Expand Down