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Fallback to initial poses when updated is missing or zero sized #565

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Merged
JanuszBedkowski merged 1 commit into from
Oct 9, 2026
Merged

Fallback to initial poses when updated is missing or zero sized #565

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12 changes: 6 additions & 6 deletions core/src/point_clouds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ bool PointClouds::load(
std::getline(infile, line);
std::istringstream iss(line);

int num_scans;
int num_scans = 0;
iss >> num_scans;

std::cout << "number of scans: " << num_scans << std::endl;
Expand Down Expand Up @@ -133,13 +133,13 @@ bool PointClouds::update_poses_from_RESSO(const std::string& folder_with_point_c
if (!infile.good())
{
std::cout << "problem with file: '" << poses_file_name << "' (!infile.good())" << std::endl;
// return false;
return false;
}
std::string line;
std::getline(infile, line);
std::istringstream iss(line);

int num_scans;
int num_scans = 0;
iss >> num_scans;

std::cout << "number of scans: " << num_scans << std::endl;
Expand Down Expand Up @@ -226,13 +226,13 @@ bool PointClouds::update_poses_from_RESSO_inverse(const std::string& folder_with
if (!infile.good())
{
std::cout << "problem with file: '" << poses_file_name << "' (!infile.good())" << std::endl;
// return false;
return false;
}
std::string line;
std::getline(infile, line);
std::istringstream iss(line);

int num_scans;
int num_scans = 0;
iss >> num_scans;

std::cout << "number of scans: " << num_scans << std::endl;
Expand Down Expand Up @@ -330,7 +330,7 @@ bool PointClouds::update_initial_poses_from_RESSO(const std::string& folder_with
std::getline(infile, line);
std::istringstream iss(line);

int num_scans;
int num_scans = 0;
iss >> num_scans;

std::cout << "number of scans: " << num_scans << std::endl;
Expand Down
20 changes: 14 additions & 6 deletions core/src/session.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -219,17 +219,25 @@ bool Session::load(const std::string& file_name, bool is_decimate, double bucket
std::cout << "updated: " << point_clouds_container.point_clouds.size() << " point_clouds" << std::endl;
}

if (!point_clouds_container.update_poses_from_RESSO(working_directory.c_str(), poses_file_name.c_str()))
// fallback
std::string poses_source_file_name = poses_file_name;
std::error_code ec;
if (!fs::exists(poses_file_name, ec) || fs::file_size(poses_file_name, ec) == 0)
{
std::cout << "poses file '" << poses_file_name << "' is missing or empty, using initial poses from '"
<< initial_poses_file_name << "'" << std::endl;
poses_source_file_name = initial_poses_file_name;
}

if (!point_clouds_container.update_poses_from_RESSO(working_directory.c_str(), poses_source_file_name.c_str()))
{
std::cout << __FILE__ << " " << __LINE__ << std::endl;
std::cout << "check input files" << std::endl;
return false;
}
else
{
std::cout << "updated: " << point_clouds_container.point_clouds.size() << " point_clouds" << std::endl;
point_clouds_container.poses_file_name = poses_file_name;
}

std::cout << "updated: " << point_clouds_container.point_clouds.size() << " point_clouds" << std::endl;
point_clouds_container.poses_file_name = poses_file_name;
}

pose_graph_loop_closure.edges = loop_closure_edges;
Expand Down
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