MapsHD · mwlasiuk · Mar 27, 2026 · Mar 27, 2026 · Mar 27, 2026 · Mar 27, 2026
diff --git a/apps/console_tools/CMakeLists.txt b/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)
 

diff --git a/.../lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp b/.../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)

diff --git a/apps/lidar_odometry_step_1/lidar_odometry.cpp b/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
         {

diff --git a/apps/lidar_odometry_step_1/lidar_odometry.h b/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>

diff --git a/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp b/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)

diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils.cpp b/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;

diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils.h b/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>
 

diff --git a/apps/livox_mid_360_intrinsic_calibration/livox_mid_360_intrinsic_calibration.cpp b/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)

diff --git a/apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp b/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>

diff --git a/apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp b/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++)

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
@@ -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
 

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -5,6 +5,7 @@ project(core)
 set(CORE_BASE_SOURCES
     src/color_las_loader.cpp
     src/control_points.cpp
+    src/export_laz.cpp
     src/gnss.cpp
     src/ground_control_points.cpp
     src/hash_utils.cpp

diff --git a/core/include/Core/color_las_loader.h b/core/include/Core/color_las_loader.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <Eigen/Dense>
-#include <laszip/laszip_api.h>
 #include <vector>
 
 namespace mandeye