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Fix e57 pose update and saving sessions created from e57 #552

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Merged
JanuszBedkowski merged 2 commits into from
Sep 30, 2026
Merged

Fix e57 pose update and saving sessions created from e57 #552

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9747fad
Fix "Update e57 poses" failing on files with intensity minimum > 0 (#…
michalpelka Sep 30, 2026
0780c0e
Step 2: make sessions created from e57 saveable
michalpelka Sep 30, 2026
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81 changes: 28 additions & 53 deletions apps/multi_view_tls_registration/multi_view_tls_registration_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2587,6 +2587,28 @@ void openSession()
}
}

// Writes clouds that have no .laz on disk yet (laz_in_memory_only, e.g. e57 scans) into `dir`
// and points their file_name there, so the session about to be saved references real files.
// `visible_only` matches Session::save(..., is_subsession), which only lists visible clouds.
void exportInMemoryPointClouds(const fs::path& dir, bool visible_only)
{
for (auto& pc : session.point_clouds_container.point_clouds)
{
if (!pc.laz_in_memory_only || (visible_only && !pc.visible))
continue;

const std::string laz_file_name = (dir / fs::path(pc.file_name).filename()).string();
spdlog::info("Saving in-memory point cloud to: '{}'", laz_file_name);
if (exportLaz(laz_file_name, pc.points_local, pc.intensities, pc.timestamps))
{
pc.file_name = laz_file_name;
pc.laz_in_memory_only = false;
}
else
spdlog::error("Error saving file: '{}'", laz_file_name);
}
}

std::string saveSession()
{
const std::string output_file_name =
Expand All @@ -2602,60 +2624,11 @@ std::string saveSession()
const auto dir = path.parent_path();
const auto stem = path.stem().string();

// Build new names
std::string initial_poses_file_name = (dir / (stem + "_ini_poses.mri")).string();
std::string poses_file_name = (dir / (stem + "_poses.mrp")).string();

if (session.point_clouds_container.initial_poses_file_name.empty())
{
spdlog::info("Please assign initial_poses_file_name to session");
spdlog::warn("Session is not saved!");

[[maybe_unused]] pfd::message message(
"Please assign initial_poses_file_name to session",
"Session is not saved. Please assign initial_poses_file_name to session. "
"Follow guidlines available here : "
"https://github.com/MapsHD/HDMapping/tree/main/doc/, "
"You can do this using button 'update initial poses from RESSO file'",
pfd::choice::ok,
pfd::icon::error);
message.result();

initial_poses_file_name =
mandeye::fd::SaveFileDialog("Initial poses file name", mandeye::fd::IniPoses_filter, initial_poses_file_name);
spdlog::info("Resso file to save: '{}'", initial_poses_file_name);

if (initial_poses_file_name.size() > 0)
{
spdlog::info("Saving initial poses to: '{}'", initial_poses_file_name);
session.point_clouds_container.save_poses(initial_poses_file_name, false);
}
}

if (session.point_clouds_container.poses_file_name.empty())
{
spdlog::info("Please assign poses_file_name to session");
spdlog::warn("Session is not saved!");

[[maybe_unused]] pfd::message message(
"Please assign poses_file_name to session",
"Session is not saved. Please assign poses_file_name to session. "
"Follow guidlines available here : "
"https://github.com/MapsHD/HDMapping/tree/main/doc/,"
"You can do this using button 'update poses from RESSO file'",
pfd::choice::ok,
pfd::icon::error);
message.result();

poses_file_name = mandeye::fd::SaveFileDialog("Poses file name", mandeye::fd::Poses_filter, poses_file_name);
spdlog::info("Resso file to save: '{}'", poses_file_name);
if (poses_file_name.size() > 0)
{
spdlog::info("Saving poses to: '{}'", poses_file_name);
session.point_clouds_container.save_poses(poses_file_name, false);
}
}
// Build new names. Poses always go next to the session file; sessions opened from e57/laz have no poses files yet
const std::string initial_poses_file_name = (dir / (stem + "_ini_poses.mri")).string();
const std::string poses_file_name = (dir / (stem + "_poses.mrp")).string();

exportInMemoryPointClouds(dir, false);
session.save(output_file_name, poses_file_name, initial_poses_file_name, false);
writeGnssTumToSessionFile(output_file_name, tls_registration.gnss, tls_registration.tum);
spdlog::info("Saving result to: '{}'", poses_file_name);
Expand Down Expand Up @@ -2910,6 +2883,7 @@ void loadE57Files(const std::vector<std::string>& input_file_names, bool fillInS
PointCloud pc;
// Name the cloud so it exports to a sensible .laz in fillInSession mode.
pc.file_name = scans.size() > 1 ? (stem + "_" + std::to_string(si) + ".laz") : (stem + ".laz");
pc.laz_in_memory_only = true;
// Provenance for "Update e57 poses".
pc.e57_source_path = abs_src;
pc.e57_scan_index = static_cast<int>(si);
Expand Down Expand Up @@ -3206,6 +3180,7 @@ void saveSubsession()
const auto initial_poses_file_name = (dir / (stem + "_ini_poses" + ".mri")).string();
const auto poses_file_name = (dir / (stem + "_poses" + ".mrp")).string();

exportInMemoryPointClouds(dir, true);
session.save(fs::path(output_file_name).string(), poses_file_name, initial_poses_file_name, true);
writeGnssTumToSessionFile(fs::path(output_file_name).string(), tls_registration.gnss, tls_registration.tum);
spdlog::info("Saving poses to: '{}'", poses_file_name);
Expand Down
3 changes: 3 additions & 0 deletions core/include/Core/point_cloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,9 @@ class PointCloud
std::vector<PointBucketIndexPair> index_pairs;
std::vector<Bucket> buckets;
std::string file_name;
// True when file_name does not exist on disk yet (e.g. scan imported from E57);
// "Save session as" in step 2 exports the cloud as .laz next to the session.
bool laz_in_memory_only = false;
// Provenance for scans imported from an E57 file (see openE57 in step 2).
// Not serialized to session JSON; used by "Update e57 poses" to write the
// refined m_pose back into the originating Data3D block.
Expand Down
3 changes: 3 additions & 0 deletions core/src/e57_utils.cpp
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Expand Up @@ -481,6 +481,9 @@ namespace mandeye::e57io
}

header.pointCount = total;
// libE57Format builds the intensity prototype with value 0.0; FloatNode throws if 0 is outside [min, max]
if (header.pointFields.intensityField && header.intensityLimits.intensityMinimum > 0.0)
header.intensityLimits.intensityMinimum = 0.0;
const int64_t di = writer.NewData3D(header);

if (total > 0)
Expand Down
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