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Merged
JanuszBedkowski merged 4 commits into from
Feb 28, 2026
Merged

Move to spdlog - part 1 #380

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9731d39
Remove commented out cout and unused code blocks
mwlasiuk Feb 28, 2026
51b4b51
Converters - printf -> spdlog
mwlasiuk Feb 28, 2026
4364406
Core + apps : printf -> spdlog
mwlasiuk Feb 28, 2026
9b83f85
Add export_laz.h note
mwlasiuk Feb 28, 2026
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15 changes: 0 additions & 15 deletions apps/compare_trajectories/mandeye_compare_trajectories.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -496,32 +496,17 @@ void project_gui()
}
if (ImGui::Button("(Step 3) Calculate ATE (Absolute Trajectory Error)"))
{
// std::cout << std::setprecision(20);
// for (const auto &p : Data::trajectory_est)
//{
// std::cout << p.first << std::endl;
// }
// std::cout << " ---------------------------" << std::endl;
// for (const auto &p : Data::trajectory_gt)
//{
// std::cout << p.first << std::endl;
// }

double ATE = 0.0;
double max_ATE = -1000000.0;
double min_ATE = 1000000.0;
int count = 0;
for (const auto& p : Data::trajectory_est)
{
// std::cout << p.second.matrix() << std::endl;

auto it = getInterpolatedPose(Data::trajectory_gt, p.first);
if (!it.isZero())
{
auto tp = Data::trajectory_offset * p.second;
// std::cout << tp.matrix() << " " << std::endl;

// std::cout << "ATE " << ATE << std::endl;
double ate = (tp - it).norm();

if (ate > max_ATE)
Expand Down
14 changes: 7 additions & 7 deletions apps/console_tools/CMakeLists.txt
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Expand Up @@ -8,7 +8,7 @@ target_include_directories(
matrix_mul PRIVATE include ${REPOSITORY_DIRECTORY}/core/include
${EIGEN3_INCLUDE_DIR})

target_link_libraries(matrix_mul PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS})
target_link_libraries(matrix_mul PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS} spdlog::spdlog)


add_executable(multiply_timestamps_session_point_cloud_laz multiply_timestamps_session_point_cloud_laz.cpp)
Expand All @@ -18,28 +18,28 @@ 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})
target_link_libraries(multiply_timestamps_session_point_cloud_laz PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS} ${PLATFORM_LASZIP_LIB} spdlog::spdlog)

add_executable(multiply_timestamps_session_trajectory_csv multiply_timestamps_session_trajectory_csv.cpp)

target_include_directories(
multiply_timestamps_session_trajectory_csv PRIVATE include ${REPOSITORY_DIRECTORY}/core/include
${EIGEN3_INCLUDE_DIR})

target_link_libraries(multiply_timestamps_session_trajectory_csv PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS})
target_link_libraries(multiply_timestamps_session_trajectory_csv PRIVATE ${PLATFORM_MISCELLANEOUS_LIBS} spdlog::spdlog)

add_executable(laz_to_ply laz_to_ply.cpp)
target_link_libraries(laz_to_ply PRIVATE ${PLATFORM_LASZIP_LIB})
target_link_libraries(laz_to_ply PRIVATE ${PLATFORM_LASZIP_LIB} spdlog::spdlog)
target_include_directories(laz_to_ply PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)

add_executable(laz_to_pcd laz_to_pcd.cpp)
target_link_libraries(laz_to_pcd PRIVATE ${PLATFORM_LASZIP_LIB})
target_link_libraries(laz_to_pcd PRIVATE ${PLATFORM_LASZIP_LIB} spdlog::spdlog)
target_include_directories(laz_to_pcd PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)

add_executable(pcd_to_laz pcd_to_laz.cpp)
target_link_libraries(pcd_to_laz PRIVATE ${PLATFORM_LASZIP_LIB})
target_link_libraries(pcd_to_laz PRIVATE ${PLATFORM_LASZIP_LIB} spdlog::spdlog)
target_include_directories(pcd_to_laz PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)

add_executable(laz_to_txt laz_to_txt.cpp)
target_link_libraries(laz_to_txt PRIVATE ${PLATFORM_LASZIP_LIB})
target_link_libraries(laz_to_txt PRIVATE ${PLATFORM_LASZIP_LIB} spdlog::spdlog)
target_include_directories(laz_to_txt PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)
16 changes: 9 additions & 7 deletions apps/console_tools/laz_to_pcd.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,13 @@
#include <cstring>
#include <filesystem>
#include <fstream>
#include <iostream>
#include <limits>
#include <span>
#include <string>
#include <vector>

#include <spdlog/spdlog.h>

namespace fs = std::filesystem;

bool check_path_ext(const char* path, const char* ext)
Expand Down Expand Up @@ -104,8 +106,8 @@ int main(const int argc, const char** argv)

if (argc != expected_argc)
{
std::fprintf(stderr, "Invalid argument count. Got %d expected %d.\n", argc, expected_argc);
std::fprintf(stderr, "Usage : %s </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.pcd>\n", argv[0]);
spdlog::error("Invalid argument count. Got {} expected {}", argc, expected_argc);
spdlog::error("Usage : {} </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.pcd>", argv[0]);

return EXIT_FAILURE;
}
Expand All @@ -115,28 +117,28 @@ int main(const int argc, const char** argv)

if (!check_path_ext(from, expected_laz_extension))
{
std::fprintf(stderr, "Invalid extension for input file %s - expected %s\n", from, expected_laz_extension);
spdlog::error("Invalid extension for input file {} - expected {}", from, expected_laz_extension);

return EXIT_FAILURE;
}

if (!check_path_ext(to, expected_ply_extension))
{
std::fprintf(stderr, "Invalid extension for output file %s - expected %s\n", from, expected_ply_extension);
spdlog::error("Invalid extension for output file {} - expected {}", from, expected_ply_extension);

return EXIT_FAILURE;
}

if (!std::filesystem::exists(from))
{
std::fprintf(stderr, "Input file %s - does not exist\n", from);
spdlog::error("Input file {} - does not exist", from);

return EXIT_FAILURE;
}

if (!convert_and_save(from, to))
{
std::fprintf(stderr, "Conversion from %s to %s failed\n", from, to);
spdlog::error("Conversion from {} to {} failed\n", from, to);

return EXIT_FAILURE;
}
Expand Down
14 changes: 8 additions & 6 deletions apps/console_tools/laz_to_ply.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
#include <fstream>
#include <vector>

#include <spdlog/spdlog.h>

struct Point
{
float x = 0.0f;
Expand Down Expand Up @@ -100,8 +102,8 @@ int main(const int argc, const char** argv)

if (argc != expected_argc)
{
std::fprintf(stderr, "Invalid argument count. Got %d expected %d.\n", argc, expected_argc);
std::fprintf(stderr, "Usage : %s </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.ply>\n", argv[0]);
spdlog::error("Invalid argument count. Got {} expected {}", argc, expected_argc);
spdlog::error("Usage : {} </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.ply>", argv[0]);

return EXIT_FAILURE;
}
Expand All @@ -111,28 +113,28 @@ int main(const int argc, const char** argv)

if (!check_path_ext(from, expected_laz_extension))
{
std::fprintf(stderr, "Invalid extension for input file %s - expected %s\n", from, expected_laz_extension);
spdlog::error("Invalid extension for input file {} - expected {}", from, expected_laz_extension);

return EXIT_FAILURE;
}

if (!check_path_ext(to, expected_ply_extension))
{
std::fprintf(stderr, "Invalid extension for output file %s - expected %s\n", from, expected_ply_extension);
spdlog::error("Invalid extension for output file {} - expected {}", from, expected_ply_extension);

return EXIT_FAILURE;
}

if (!std::filesystem::exists(from))
{
std::fprintf(stderr, "Input file %s - does not exist\n", from);
spdlog::error("Input file {} - does not exist", from);

return EXIT_FAILURE;
}

if (!convert_and_save(from, to))
{
std::fprintf(stderr, "Conversion from %s to %s failed\n", from, to);
spdlog::error("Conversion from {} to {} failed\n", from, to);

return EXIT_FAILURE;
}
Expand Down
14 changes: 8 additions & 6 deletions apps/console_tools/laz_to_txt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
#include <fstream>
#include <vector>

#include <spdlog/spdlog.h>

struct Point
{
float x = 0.0f;
Expand Down Expand Up @@ -95,8 +97,8 @@ int main(const int argc, const char** argv)

if (argc != expected_argc)
{
std::fprintf(stderr, "Invalid argument count. Got %d expected %d.\n", argc, expected_argc);
std::fprintf(stderr, "Usage : %s </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.txt>\n", argv[0]);
spdlog::error("Invalid argument count. Got {} expected {}", argc, expected_argc);
spdlog::error("Usage : {} </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.txt>", argv[0]);

return EXIT_FAILURE;
}
Expand All @@ -106,28 +108,28 @@ int main(const int argc, const char** argv)

if (!check_path_ext(from, expected_laz_extension))
{
std::fprintf(stderr, "Invalid extension for input file %s - expected %s\n", from, expected_laz_extension);
spdlog::error("Invalid extension for input file {} - expected {}", from, expected_laz_extension);

return EXIT_FAILURE;
}

if (!check_path_ext(to, expected_ply_extension))
{
std::fprintf(stderr, "Invalid extension for output file %s - expected %s\n", from, expected_ply_extension);
spdlog::error("Invalid extension for output file {} - expected {}", from, expected_ply_extension);

return EXIT_FAILURE;
}

if (!std::filesystem::exists(from))
{
std::fprintf(stderr, "Input file %s - does not exist\n", from);
spdlog::error("Input file {} - does not exist", from);

return EXIT_FAILURE;
}

if (!convert_and_save(from, to))
{
std::fprintf(stderr, "Conversion from %s to %s failed\n", from, to);
spdlog::error("Conversion from {} to {} failed", from, to);

return EXIT_FAILURE;
}
Expand Down
82 changes: 7 additions & 75 deletions apps/console_tools/multiply_timestamps_session_point_cloud_laz.cpp
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Expand Up @@ -10,71 +10,35 @@

#include <export_laz.h>

#include <spdlog/spdlog.h>

bool load_pc(PointCloud& pc, const std::string& input_file_name)
{
laszip_POINTER laszip_reader;
if (laszip_create(&laszip_reader))
{
fprintf(stderr, ":DLL ERROR: creating laszip reader\n");
/*PointCloud pc;
pc.m_pose = Eigen::Affine3d::Identity();
pc.m_initial_pose = pc.m_pose;
pc.pose = pose_tait_bryan_from_affine_matrix(pc.m_pose);
pc.gui_translation[0] = pc.pose.px;
pc.gui_translation[1] = pc.pose.py;
pc.gui_translation[2] = pc.pose.pz;
pc.gui_rotation[0] = rad2deg(pc.pose.om);
pc.gui_rotation[1] = rad2deg(pc.pose.fi);
pc.gui_rotation[2] = rad2deg(pc.pose.ka);
pc.file_name = input_file_names[i];
point_clouds.push_back(pc);*/
spdlog::error(":DLL ERROR: creating laszip reader");
return false;
}

laszip_BOOL is_compressed = 0;
if (laszip_open_reader(laszip_reader, input_file_name.c_str(), &is_compressed))
{
fprintf(stderr, ":DLL ERROR: opening laszip reader for '%s'\n", input_file_name.c_str());
/*PointCloud pc;
pc.m_pose = Eigen::Affine3d::Identity();
pc.m_initial_pose = pc.m_pose;
pc.pose = pose_tait_bryan_from_affine_matrix(pc.m_pose);
pc.gui_translation[0] = pc.pose.px;
pc.gui_translation[1] = pc.pose.py;
pc.gui_translation[2] = pc.pose.pz;
pc.gui_rotation[0] = rad2deg(pc.pose.om);
pc.gui_rotation[1] = rad2deg(pc.pose.fi);
pc.gui_rotation[2] = rad2deg(pc.pose.ka);
pc.file_name = input_file_names[i];
point_clouds.push_back(pc);*/
spdlog::error(":DLL ERROR: opening laszip reader for '{}'", input_file_name);
return false;
}
laszip_header* header;

if (laszip_get_header_pointer(laszip_reader, &header))
{
fprintf(stderr, ":DLL ERROR: getting header pointer from laszip reader\n");
/*PointCloud pc;
pc.m_pose = Eigen::Affine3d::Identity();
pc.m_initial_pose = pc.m_pose;
pc.pose = pose_tait_bryan_from_affine_matrix(pc.m_pose);
pc.gui_translation[0] = pc.pose.px;
pc.gui_translation[1] = pc.pose.py;
pc.gui_translation[2] = pc.pose.pz;
pc.gui_rotation[0] = rad2deg(pc.pose.om);
pc.gui_rotation[1] = rad2deg(pc.pose.fi);
pc.gui_rotation[2] = rad2deg(pc.pose.ka);
pc.file_name = input_file_names[i];
point_clouds.push_back(pc);*/
spdlog::error(":DLL ERROR: getting header pointer from laszip reader");
return false;
}

// fprintf(stderr, "file '%s' contains %u points\n", input_file_name.c_str(), header->number_of_point_records);

laszip_point* point;
if (laszip_get_point_pointer(laszip_reader, &point))
{
fprintf(stderr, ":DLL ERROR: getting point pointer from laszip reader\n");
spdlog::error(":DLL ERROR: getting point pointer from laszip reader");
return false;
}

Expand All @@ -88,28 +52,6 @@ bool load_pc(PointCloud& pc, const std::string& input_file_name)
pc.gui_rotation[1] = rad2deg(pc.pose.fi);
pc.gui_rotation[2] = rad2deg(pc.pose.ka);

/*for (int j = 0; j < header->number_of_point_records; j++)
{
if (laszip_read_point(laszip_reader))
{
fprintf(stderr, ":DLL ERROR: reading point %u\n", j);
laszip_close_reader(laszip_reader);
return true;
// continue;
}

LAZPoint p;
p.x = header->x_offset + header->x_scale_factor * static_cast<double>(point->X);
p.y = header->y_offset + header->y_scale_factor * static_cast<double>(point->Y);
p.z = header->z_offset + header->z_scale_factor * static_cast<double>(point->Z);
p.timestamp = point->gps_time;

Eigen::Vector3d pp(p.x, p.y, p.z);
pc.points_local.push_back(pp);
pc.intensities.push_back(point->intensity);
pc.timestamps.push_back(p.timestamp);
}*/

laszip_I64 npoints = (header->number_of_point_records ? header->number_of_point_records : header->extended_number_of_point_records);

std::cout << (is_compressed ? "" : "un") << "compressed file '" << (std::filesystem::path(input_file_name).filename().string())
Expand All @@ -121,7 +63,7 @@ bool load_pc(PointCloud& pc, const std::string& input_file_name)
{
if (laszip_read_point(laszip_reader))
{
fprintf(stderr, "DLL ERROR: reading point %I64d\n", p_count);
spdlog::error("DLL ERROR: reading point {}", p_count);
laszip_close_reader(laszip_reader);
return false;
}
Expand All @@ -137,27 +79,17 @@ bool load_pc(PointCloud& pc, const std::string& input_file_name)
pc.intensities.push_back(point->intensity);
pc.timestamps.push_back(p.timestamp);

// Eigen::Vector3d color(
// static_cast<uint8_t>(0xFFU * ((point->rgb[0] > 0) ? static_cast<float>(point->rgb[0]) / static_cast<float>(0xFFFFU) : 1.0f))
/// 256.0, static_cast<uint8_t>(0xFFU * ((point->rgb[1] > 0) ? static_cast<float>(point->rgb[1]) / static_cast<float>(0xFFFFU)
//: 1.0f)) / 256.0, static_cast<uint8_t>(0xFFU * ((point->rgb[2] > 0) ? static_cast<float>(point->rgb[2]) /
// static_cast<float>(0xFFFFU) : 1.0f)) / 256.0);

Eigen::Vector3d color(
static_cast<float>(point->rgb[0]) / 256.0,
static_cast<float>(point->rgb[1]) / 256.0,
static_cast<float>(point->rgb[2]) / 256.0);

// std::cout << point->rgb[0] << " " << point->rgb[1] << " " << point->rgb[2] << std::endl;

pc.colors.push_back(color);

p_count++;
}

laszip_close_reader(laszip_reader);
// laszip_clean(laszip_reader);
// laszip_destroy(laszip_reader);

return true;
}
Expand Down
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