Small improvements:

CMakeLists.txt

@@ -9,7 +9,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 project(hd-mapping)
 
 set (HDMAPPING_VERSION_MAJOR 0)
-set (HDMAPPING_VERSION_MINOR 96)
+set (HDMAPPING_VERSION_MINOR 97)
 set (HDMAPPING_VERSION_PATCH 0)
 
 add_definitions(-DHDMAPPING_VERSION_MAJOR=${HDMAPPING_VERSION_MAJOR})

apps/lidar_odometry_step_1/lidar_odometry_gui.cpp

@@ -31,7 +31,6 @@
 #ifdef _WIN32
 #include "resource.h"
 #include <windows.h>
-
 #endif
 
 ///////////////////////////////////////////////////////////////////////////////////
@@ -985,7 +984,7 @@ void settings_gui()
             {
                 ImGui::BeginTooltip();
                 ImGui::Text("This process makes trajectory smooth, point cloud will be more consistent");
-                ImGui::SetTooltip("Press optionally before pressing 'Save result'");
+                ImGui::Text("Press optionally before pressing 'Save result'");
                 ImGui::EndTooltip();
             }
 
@@ -996,11 +995,13 @@ void settings_gui()
 
             if (ImGui::Button("Save result"))
                 save_results(true, 0.0);
-
-            ImGui::SameLine();
-            ImGui::Text(
-                "Press this button for saving resulting trajectory and point clouds as single session for "
-                "'multi_view_tls_registration_step_2' program");
+            if (ImGui::IsItemHovered())
+            {
+                ImGui::BeginTooltip();
+                ImGui::Text("Press this button for saving resulting trajectory and point clouds");
+                ImGui::Text("as single session for 'multi_view_tls_registration_step_2' program");
+                ImGui::EndTooltip();
+            }
         }
         if (step_1_done && step_2_done)
         {
@@ -1515,6 +1516,18 @@ void progress_window()
     ImGui::ProgressBar(progress, ImVec2(-1.0f, 0.0f), progressText);
     ImGui::Text("%s", timeInfo);
 
+#ifdef _WIN32
+    // Update Windows taskbar progress
+    if (progress > 0.01f && progress < 1.0f)
+    {
+        SetTaskbarProgress(progress);
+    }
+    else if (progress >= 1.0f)
+    {
+        ClearTaskbarProgress();
+    }
+#endif
+
     ImGui::NewLine();
 
     if (!loPause)
@@ -1873,7 +1886,7 @@ void display()
         {
             if (ImGui::BeginMenu("Presets"))
             {
-                if (ImGui::MenuItem("1 Velocity < 8km/h, tiny spaces", nullptr, (lastPar == 1)))
+                if (ImGui::MenuItem("1 Velocity < 8km/h, tiny spaces (default)", nullptr, (lastPar == 1)))
                 {
                     lastPar = 1;
 
@@ -2336,7 +2349,32 @@ int main(int argc, char* argv[])
             return 0;
         }
 
-        if (argc == 4) // runnning from command line
+        if (argc == 2) // running from command line
+        {
+            auto path = fs::path(argv[1]);
+            if (is_directory(path))
+            {
+                std::string working_directory;
+                std::vector<WorkerData> worker_data;
+
+                std::chrono::time_point<std::chrono::system_clock> start, end;
+                start = std::chrono::system_clock::now();
+
+                std::atomic<bool> loPause{ false };
+                step1(path.string(), params, pointsPerFile, imu_data, working_directory, trajectory, worker_data, loPause);
+
+                step2(worker_data, params, loPause);
+
+                end = std::chrono::system_clock::now();
+                std::chrono::duration<double> elapsed_seconds = end - start;
+                std::time_t end_time = std::chrono::system_clock::to_time_t(end);
+                std::cout << "calculations finished computation at " << std::ctime(&end_time)
+                          << "Elapsed time: " << formatTime(elapsed_seconds.count()).c_str() << "s\n";
+
+                save_results(false, elapsed_seconds.count(), working_directory, worker_data, params, argv[3]);
+            }
+        }
+        else if (argc == 4) // runnning from command line with custom params
         {
             // Load parameters from file using original TomlIO class
             TomlIO toml_io;
@@ -2369,6 +2407,10 @@ int main(int argc, char* argv[])
             initGL(&argc, argv, winTitle, display, mouse);
             glutCloseFunc(on_exit);
 
+#ifdef _WIN32
+            InitTaskbarProgress();
+#endif
+
             glutMainLoop();
 
             ImGui_ImplOpenGL2_Shutdown();

apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp

@@ -117,7 +117,7 @@ std::vector<std::pair<int, int>> nns(const std::vector<Point3Di>& points_global,
             }
         }
 
-        // std::cout << "------------" << std::endl;
+        // spdlog::info("------------");
         for (size_t y = 0; y < min_distances.size(); y++)
             if (indexes_target[y] != -1)
                 nn.emplace_back(index_element_source, indexes_target[y]);
@@ -596,12 +596,12 @@ void optimize_sf(
 
     if (points_local.size() > 100)
     {
-        // std::cout << "start adding lidar observations" << std::endl;
+        // spdlog::info("start adding lidar observations");
         if (multithread)
             std::for_each(std::execution::par_unseq, std::begin(points_local), std::end(points_local), hessian_fun);
         else
             std::for_each(std::begin(points_local), std::end(points_local), hessian_fun);
-        // std::cout << "adding lidar observations finished" << std::endl;
+        // spdlog::info("adding lidar observations finished");
     }
 
     std::vector<std::pair<int, int>> odo_edges;
@@ -1220,12 +1220,12 @@ void optimize_rigid_sf(
 
             if ((infm.array() > threshold).any())
             {
-                // std::cout << "infm.array() " << infm.array() << std::endl;
+                // spdlog::info("infm.array() {}", infm.array());
                 return { Eigen::Matrix<double, 6, 6, Eigen::RowMajor>::Zero(), Eigen::Matrix<double, 6, 1>::Zero(), c };
             }
             if ((infm.array() < -threshold).any())
             {
-                // std::cout << "infm.array() " << infm.array() << std::endl;
+                // spdlog::info("infm.array() {}", infm.array());
                 return { Eigen::Matrix<double, 6, 6, Eigen::RowMajor>::Zero(), Eigen::Matrix<double, 6, 1>::Zero(), c };
             }
 
@@ -1314,7 +1314,7 @@ void optimize_rigid_sf(
 
         SumBlocks(blocks, AtPAndt, AtPBndt);
 
-        // std::cout << "number_of_observations " << number_of_observations << std::endl;
+        // spdlog::info("number_of_observations {}", number_of_observations);
 
         std::vector<Eigen::Triplet<double>> tripletListA;
         std::vector<Eigen::Triplet<double>> tripletListP;
@@ -1387,7 +1387,7 @@ void optimize_rigid_sf(
         {
             for (Eigen::SparseMatrix<double>::InnerIterator it(x, k); it; ++it)
             {
-                // std::cout << "it.value() " << it.value() << std::endl;
+                // spdlog::info("it.value() {}", it.value());
                 h_x.push_back(it.value());
             }
         }
@@ -2083,7 +2083,7 @@ void optimize_lidar_odometry(
             Eigen::Vector3d p1(prev_pose.px, prev_pose.py, prev_pose.pz);
             Eigen::Vector3d p2(pose.px, pose.py, pose.pz);
 
-            // std::cout << "(p1 - p2).norm() " << (p1 - p2).norm() << std::endl;
+            // spdlog::info("(p1 - p2).norm() {}", (p1 - p2).norm());
 
             if ((p1 - p2).norm() < 1.0)
                 intermediate_trajectory[i] = affine_matrix_from_pose_tait_bryan(pose);
@@ -2513,7 +2513,7 @@ bool compute_step_2(
                     lookup_stats);
                 if (delta < params.convergence_delta_threshold)
                 {
-                    // std::cout << "finished at iteration " << iter + 1 << "/" << params.nr_iter;
+                    // spdlog::info("finished at iteration {}/{}", iter + 1, params.nr_iter);
                     break;
                 }
 
@@ -2538,24 +2538,24 @@ bool compute_step_2(
 
             if (delta > params.convergence_delta_threshold)
                 spdlog::info(
-                    "finished at iteration {}/{} optimizing worker_data {}/{} with acc_distance {:.3f}[m] in {:.3f}[s], delta {:e}!!!",
-                    iter_end + 1,
-                    params.nr_iter,
+                    "finished optimizing worker_data {}/{} at iteration {}/{} in {:.3f}[s] with acc_distance {:.3f}[m], delta {:e}!!!",
                     i + 1,
                     worker_data.size(),
-                    acc_distance,
+                    iter_end + 1,
+                    params.nr_iter,
                     elapsed_seconds1,
+                    acc_distance,
                     delta);
             else
                 spdlog::info(
-                    "finished at iteration {}/{} optimizing worker_data {}/{} with acc_distance {:.3f}[m] in {:.3f}[s], delta < {:.1e} "
+                    "finished optimizing worker_data {}/{} at iteration {}/{} in {:.3f}[s] with acc_distance {:.3f}[m], delta<{:.1e} "
                     "(converged)",
-                    iter_end + 1,
-                    params.nr_iter,
                     i + 1,
                     worker_data.size(),
-                    acc_distance,
+                    iter_end + 1,
+                    params.nr_iter,
                     elapsed_seconds1,
+                    acc_distance,
                     params.convergence_delta_threshold);
 
             loProgress.store((float)(i + 1) / worker_data.size());
@@ -3456,7 +3456,7 @@ void Consistency2(std::vector<WorkerData>& worker_data, const LidarOdometryParam
     }
     spdlog::info("build regular grid decomposition FINISHED");
 
-    spdlog::info("ndt observations start START");
+    spdlog::info("NDT observations start START");
 
     counter = 0;
 
@@ -3494,7 +3494,7 @@ void Consistency2(std::vector<WorkerData>& worker_data, const LidarOdometryParam
                 Eigen::Vector3d viewport = trajectory[points_global[i].index_pose].translation();
                 if (nv.dot(viewport - this_bucket.mean) < 0)
                 {
-                    // std::cout << "nv!";
+                    // spdlog::warning("nv!");
                     continue;
                 }
 
@@ -3611,7 +3611,7 @@ void Consistency2(std::vector<WorkerData>& worker_data, const LidarOdometryParam
         AtPB += AtPBndt;
     }
 
-    spdlog::info("ndt observations start FINISHED");
+    spdlog::info("NDT observations start FINISHED");
 
     Eigen::SimplicialCholesky<Eigen::SparseMatrix<double>> solver(AtPA);
     Eigen::SparseMatrix<double> x = solver.solve(AtPB);

apps/lidar_odometry_step_1/resource.rc

@@ -20,8 +20,8 @@ IDI_ICON1               ICON                    "icon.ico"
 //
 
 VS_VERSION_INFO VERSIONINFO
-FILEVERSION 0, 0, 9, 6
-PRODUCTVERSION 0, 0, 9, 6
+FILEVERSION 0, 0, 9, 7
+PRODUCTVERSION 0, 0, 9, 7
 FILEFLAGSMASK 0x3fL
 FILEOS 0x40004
 FILETYPE 0x1
@@ -32,11 +32,11 @@ BLOCK "040904B0"
 BEGIN
 VALUE "CompanyName", "Mandeye\0"
 VALUE "FileDescription", "HDMapping Step 1\0"
-VALUE "FileVersion", "0.9.6\0"
+VALUE "FileVersion", "0.9.7\0"
 VALUE "InternalName", "Odometry\0"
 VALUE "LegalCopyright", "(c) 2026 github.com/MapsHD/HDMapping\0"
 VALUE "OriginalFilename", "lidar_odometry_step_1.exe\0"
-VALUE "ProductVersion", "0.9.6\0"
+VALUE "ProductVersion", "0.9.7\0"
 VALUE "ProgramID", "github.com/MapsHD/HDMapping\0"
 VALUE "ProductName", "HDMapping\0"
 END