#!/bin/bash
# Convenience script: Run MOLA LiDAR odometry from an Ouster PCAP recording.
#
# Usage:
#   mola-lo-gui-ouster-pcap <PCAP_FILE> <METADATA_JSON>
#
# Example:
#   mola-lo-gui-ouster-pcap /path/to/capture.pcap /path/to/metadata.json

set -e

if [ "$#" -lt 2 ]; then
    echo "Usage: $(basename "$0") <PCAP_FILE> <METADATA_JSON>"
    echo ""
    echo "Example:"
    echo "  $(basename "$0") /path/to/capture.pcap /path/to/metadata.json"
    exit 1
fi

export OUSTER_PCAP="$1"
export OUSTER_META="$2"

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
LAUNCH_DIR="${SCRIPT_DIR}/../share/mola_input_ouster/mola-cli-launchs"

# If not installed, try relative path from source tree
if [ ! -d "$LAUNCH_DIR" ]; then
    LAUNCH_DIR="${SCRIPT_DIR}/../mola-cli-launchs"
fi

exec mola-cli -c "${LAUNCH_DIR}/lidar_odometry_ouster_pcap.yaml"
