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Remove step 1 cache after saving the session in command-line mode #566

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

Remove step 1 cache after saving the session in command-line mode #566

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5 changes: 1 addition & 4 deletions .../lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2217,10 +2217,7 @@ void display()

void on_exit()
{
// remove cache
std::cout << "remove cache: '" << params.working_directory_cache << "' START" << std::endl;
std::filesystem::remove_all(params.working_directory_cache);
std::cout << "remove cache: '" << params.working_directory_cache << "' FINISHED" << std::endl;
remove_cache(params);
}

void mouse(int glut_button, int state, int x, int y)
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13 changes: 13 additions & 0 deletions apps/lidar_odometry_step_1/lidar_odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1192,6 +1192,19 @@ void release_raw_clouds(std::vector<std::vector<Point3Di>>& pointsPerFile, Lidar
release_freed_heap();
}

void remove_cache(const LidarOdometryParams& params)
{
if (params.working_directory_cache.empty())
return;
std::cout << "remove cache: '" << params.working_directory_cache << "' START" << std::endl;
std::error_code ec;
fs::remove_all(params.working_directory_cache, ec);
if (ec)
std::cerr << "remove cache: '" << params.working_directory_cache << "' FAILED: " << ec.message() << std::endl;
else
std::cout << "remove cache: '" << params.working_directory_cache << "' FINISHED" << std::endl;
}

std::vector<WorkerData> run_lidar_odometry(const std::string& input_dir, LidarOdometryParams& params)
{
HDMAP_ZONE_SCOPE("run_lidar_odometry");
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2 changes: 2 additions & 0 deletions apps/lidar_odometry_step_1/lidar_odometry.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ bool compute_step_1(
const std::atomic<bool>& pause);
// after a successful step 1: free the raw clouds (and the lazy loader) — nothing after step 1 reads them
void release_raw_clouds(std::vector<std::vector<Point3Di>>& pointsPerFile, LidarOdometryParams& params);
// remove params.working_directory_cache; call only once nothing reads worker_data[*].*_cache_file_name any more
void remove_cache(const LidarOdometryParams& params);
void run_consistency(std::vector<WorkerData>& worker_data, const LidarOdometryParams& params);
void filter_reference_buckets(LidarOdometryParams& params);
void load_reference_point_clouds(const std::vector<std::string>& input_file_names, LidarOdometryParams& params);
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7 changes: 3 additions & 4 deletions apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2626,10 +2626,7 @@ void display()

void on_exit()
{
// remove cache
std::cout << "remove cache: '" << params.working_directory_cache << "' START" << std::endl;
std::filesystem::remove_all(params.working_directory_cache);
std::cout << "remove cache: '" << params.working_directory_cache << "' FINISHED" << std::endl;
remove_cache(params);
}

void mouse(int glut_button, int state, int x, int y)
Expand Down Expand Up @@ -2759,6 +2756,7 @@ int main(int argc, char* argv[])
const fs::path result_dir = get_next_result_path(working_directory);
save_results(false, elapsed_seconds.count(), working_directory, worker_data, params, result_dir);
std::cout << "Results saved to folder: '" << result_dir.string() << "'" << std::endl;
remove_cache(params);
}
}
else if (argc == 4) // runnning from command line with custom params
Expand Down Expand Up @@ -2789,6 +2787,7 @@ int main(int argc, char* argv[])
<< "Elapsed time: " << formatTime(elapsed_seconds.count()).c_str() << "s\n";

save_results(false, elapsed_seconds.count(), working_directory, worker_data, params, argv[3]);
remove_cache(params);
}
else // full GUI mode
{
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