From 931f1d6321ca1b94ecd75c2fca21e44812ea83bd Mon Sep 17 00:00:00 2001
From: Michal Pelka <michalpelka@gmail.com>
Date: Fri, 30 Jan 2026 09:01:05 +0100
Subject: [PATCH] Simple changes: - allwos diffrent number of csv files and
 lidar_odometry (for Murata) - fix around camera in raw
 mandeye_raw_data_viewer

Signed-off-by: Michal Pelka <michalpelka@gmail.com>
---
 apps/lidar_odometry_step_1/lidar_odometry.cpp | 14 +--------
 .../lidar_odometry_utils.cpp                  |  4 +--
 .../mandeye_raw_data_viewer.cpp               | 30 ++++++++-----------
 3 files changed, 15 insertions(+), 33 deletions(-)

diff --git a/apps/lidar_odometry_step_1/lidar_odometry.cpp b/apps/lidar_odometry_step_1/lidar_odometry.cpp
index 1391a4e6..efbf6800 100644
--- a/apps/lidar_odometry_step_1/lidar_odometry.cpp
+++ b/apps/lidar_odometry_step_1/lidar_odometry.cpp
@@ -14,7 +14,6 @@ bool load_data(
     bool debugMsg)
 {
     std::sort(input_file_names.begin(), input_file_names.end());
-
     std::vector<std::string> csv_files, laz_files;
     std::string sn_file;
     std::string calibrationFile;
@@ -81,11 +80,6 @@ bool load_data(
         {
             std::cout << "\n!!! there is no CSV file for: " << laz_files[i] << " !!! \n\n";
 
-            if (i < (laz_files.size() - 1))
-            {
-                std::cout << "!!! can't continue with missmatched middle file pairs.. !!!\n\n";
-                return false;
-            }
         }
     }
 
@@ -107,12 +101,6 @@ bool load_data(
         if (!found)
         {
             std::cout << "\n!!! there is no LAZ file for: " << csv_files[i] << " !!! \n\n";
-
-            if (i < (csv_files.size() - 1))
-            {
-                std::cout << "!!! can't continue with missmatched middle file pairs.. !!!\n\n";
-                return false;
-            }
         }
     }
 
@@ -121,7 +109,7 @@ bool load_data(
         std::string working_directory = fs::path(input_file_names.front()).parent_path().string();
 
         if (laz_files.size() != csv_files.size())
-            std::cout << "!!! file number issue. continuing but ignoring missmatched last file pair.. !!!\n" << std::endl;
+            std::cout << "!!! file number issue. continuing can lead to incomplete data!!!\n" << std::endl;
 
         // check if folder exists!
         if (!fs::exists(working_directory))
diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils.cpp b/apps/lidar_odometry_step_1/lidar_odometry_utils.cpp
index 1642814c..877c1ce2 100644
--- a/apps/lidar_odometry_step_1/lidar_odometry_utils.cpp
+++ b/apps/lidar_odometry_step_1/lidar_odometry_utils.cpp
@@ -514,9 +514,9 @@ std::vector<std::tuple<std::pair<double, double>, FusionVector, FusionVector>> l
                 myfile.close();
             }
         }
-    } catch (...)
+    } catch (const std::exception& e)
     {
-        std::cout << "load_imu error for file: '" << imu_file << "'" << std::endl;
+        std::cout << "load_imu error for file: '" << imu_file << "'" << e.what() << std::endl;
         // return all_data;
     }
 
diff --git a/apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp b/apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp
index f6e436c7..168e4050 100644
--- a/apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp
+++ b/apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp
@@ -120,7 +120,7 @@ std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> mean_cov;
 bool show_mean_cov = false;
 bool show_rgd_nn = false;
 bool show_imu_data = false;
-
+bool show_cameras_data = false;
 bool is_settings_gui = false;
 
 namespace photos
@@ -1351,21 +1351,6 @@ void settings_gui()
 
         ImGui::PopItemWidth();
 
-        if (index_rendered_points_local < 0)
-            index_rendered_points_local = 0;
-
-        if (index_rendered_points_local >= all_data.size())
-            index_rendered_points_local = all_data.size() - 1;
-
-        if (laz_files.size() > 0)
-        {
-            if (index_rendered_points_local >= 0 && index_rendered_points_local < indexes_to_filename.size())
-            {
-                double ts = all_data[index_rendered_points_local].points_local[0].timestamp; // * 1e9;
-                render_nearest_photo(ts);
-            }
-        }
-
         ImGui::BeginDisabled(!is_init);
         if (ImGui::Button("Save point cloud"))
         {
@@ -1715,6 +1700,14 @@ void display()
             index_rendered_points_local = all_data.size() - 1;
     }
 
+    // ask to load the nearest photo
+    if (show_cameras_data && index_rendered_points_local >= 0 && index_rendered_points_local < indexes_to_filename.size())
+    {
+        double ts = all_data[index_rendered_points_local].points_local[0].timestamp; // * 1e9;
+        render_nearest_photo(ts);
+    }
+
+
     if (ImGui::BeginMainMenuBar())
     {
         {
@@ -1798,6 +1791,7 @@ void display()
                 ImGui::SetTooltip("Show the mean and covariance ellipsoid representation");
 
             ImGui::MenuItem("Show IMU data", nullptr, &show_imu_data);
+            ImGui::MenuItem("Show cameras data", nullptr, &show_cameras_data);
             ImGui::EndDisabled();
 
             ImGui::Separator();
@@ -1901,7 +1895,7 @@ void display()
     if (compass_ruler)
         drawMiniCompassWithRuler();
 
-    if (photos::photo_texture_cam0)
+    if (show_cameras_data && photos::photo_texture_cam0)
     {
         if (ImGui::Begin("CAM0"))
         {
@@ -1994,7 +1988,7 @@ int main(int argc, char* argv[])
 
             if (fs::exists(argv[1]))
             {
-                for (const auto& entry : fs::directory_iterator(argv[1]))
+                for (const auto& entry : fs::recursive_directory_iterator(argv[1]))
                     if (entry.is_regular_file())
                         input_file_names.push_back(entry.path().string());