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Fix LAS specification violations #366

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Merged
JanuszBedkowski merged 9 commits into from
Feb 19, 2026
Merged

Fix LAS specification violations #366

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fff8ca4
Fix float scale factor in exportLaz()
bloom256 Feb 16, 2026
8c409fa
Fix GPS timestamps written with extra 1e9 multiplier in exportLaz()
bloom256 Feb 16, 2026
f9727d3
Use laszip_update_inventory() for bounding box in exportLaz()
bloom256 Feb 16, 2026
1569d5c
Use laszip_update_inventory() for bounding box in save_processed_pc()
bloom256 Feb 16, 2026
922fb93
Convert nanosecond timestamps to seconds for LAS gps_time field in ex…
bloom256 Feb 16, 2026
eb1d995
Set return_number and number_of_returns to 1 in exportLaz()
bloom256 Feb 16, 2026
4a88e1d
timestamp scalling rolled back (as we cannot break backward compatibi…
bloom256 Feb 19, 2026
41afa0d
Add LazWriter class to eliminate large temp buffers in save_all_to_las()
bloom256 Feb 19, 2026
3ae30f3
clang formatting
bloom256 Feb 19, 2026
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6 changes: 3 additions & 3 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -260,9 +260,9 @@ void optimize_lidar_odometry(
bool ablation_study_use_hierarchical_rgd,
bool ablation_study_use_view_point_and_normal_vectors,
LookupStats& lookup_stats,
const bool &ablation_study_use_threshold_outer_rgd,
const double &convergence_result,
const double &convergence_delta_threshold_outer_rgd);
const bool& ablation_study_use_threshold_outer_rgd,
const double& convergence_result,
const double& convergence_delta_threshold_outer_rgd);

void optimize_sf(
std::vector<Point3Di>& intermediate_points,
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26 changes: 13 additions & 13 deletions apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1669,10 +1669,9 @@ static void compute_hessian(
Eigen::MatrixXd& AtPAndt,
Eigen::MatrixXd& AtPBndt,
LookupStats& stats,
const bool &ablation_study_use_threshold_outer_rgd,
const double &convergence_result,
const double &convergence_delta_threshold_outer_rgd
)
const bool& ablation_study_use_threshold_outer_rgd,
const double& convergence_result,
const double& convergence_delta_threshold_outer_rgd)
{
const double range_squared = point.point.squaredNorm();

Expand Down Expand Up @@ -1716,15 +1715,16 @@ static void compute_hessian(
bool check_threshold_outdoor_rgd = true;
if (ablation_study_use_threshold_outer_rgd)
{
//const bool ablation_study_use_threshold_outer,
//const double convergence_delta_threshold_outer_rgd,
//const double convergence_result)
// const bool ablation_study_use_threshold_outer,
// const double convergence_delta_threshold_outer_rgd,
// const double convergence_result)

//janusz
// janusz

if(convergence_result > convergence_delta_threshold_outer_rgd){
if (convergence_result > convergence_delta_threshold_outer_rgd)
{
check_threshold_outdoor_rgd = false;
//std::cout << "do not use out " << std::endl;
// std::cout << "do not use out " << std::endl;
}
}

Expand Down Expand Up @@ -1780,9 +1780,9 @@ void optimize_lidar_odometry(
bool ablation_study_use_hierarchical_rgd,
bool ablation_study_use_view_point_and_normal_vectors,
LookupStats& lookup_stats,
const bool &ablation_study_use_threshold_outer_rgd,
const double &convergence_result,
const double &convergence_delta_threshold_outer_rgd)
const bool& ablation_study_use_threshold_outer_rgd,
const double& convergence_result,
const double& convergence_delta_threshold_outer_rgd)
{
UTL_PROFILER_SCOPE("optimize_lidar_odometry");
UTL_PROFILER_BEGIN(pre_hessian, "pre_hessian");
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4 changes: 2 additions & 2 deletions apps/lidar_odometry_step_1/toml_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,11 +90,11 @@ bool TomlIO::SaveParametersToTomlFile(const std::string& filepath, const LidarOd
out << "[ablacion study]" << std::endl;
out << "ablation_study_use_norm = " << (params.ablation_study_use_norm ? "true" : "false") << std::endl;
out << "ablation_study_use_hierarchical_rgd = " << (params.ablation_study_use_hierarchical_rgd ? "true" : "false") << std::endl;
out << "ablation_study_use_view_point_and_normal_vectors = " << (params.ablation_study_use_view_point_and_normal_vectors ? "true" : "false") << std::endl;
out << "ablation_study_use_view_point_and_normal_vectors = "
<< (params.ablation_study_use_view_point_and_normal_vectors ? "true" : "false") << std::endl;
out << "ablation_study_use_threshold_outdoor_rgd = " << (params.ablation_study_use_threshold_outer_rgd ? "true" : "false") << std::endl;
out << std::endl;


// Remove version_info from tbl to avoid duplication since we write it manually
tbl.erase("version_info");

Expand Down
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