From a765454abfd6f0dc5e388f501f85f1eabd992f13 Mon Sep 17 00:00:00 2001
From: "k.koide" <k.koide@aist.go.jp>
Date: Tue, 14 Jul 2026 17:09:58 +0900
Subject: [PATCH] auto export map

---
 include/glim/viewer/offline_viewer.hpp    |  3 ++-
 src/glim/mapping/async_global_mapping.cpp |  1 +
 src/glim/viewer/offline_viewer.cpp        | 25 ++++++++++++++++++++---
 3 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/include/glim/viewer/offline_viewer.hpp b/include/glim/viewer/offline_viewer.hpp
index 1c2037b0..54aeeac1 100644
--- a/include/glim/viewer/offline_viewer.hpp
+++ b/include/glim/viewer/offline_viewer.hpp
@@ -14,7 +14,7 @@ namespace glim {
 
 class OfflineViewer : public InteractiveViewer {
 public:
-  OfflineViewer(const std::string& init_map_path = "");
+  OfflineViewer(const std::string& init_map_path = "", const std::string& export_map_path = "");
   virtual ~OfflineViewer() override;
 
 private:
@@ -28,6 +28,7 @@ class OfflineViewer : public InteractiveViewer {
 
 private:
   std::string init_map_path;
+  std::string export_map_path;
   std::unique_ptr<guik::ProgressModal> progress_modal;
 
   std::unordered_set<std::string> imported_shared_libs;
diff --git a/src/glim/mapping/async_global_mapping.cpp b/src/glim/mapping/async_global_mapping.cpp
index 06f4035e..2469d3af 100644
--- a/src/glim/mapping/async_global_mapping.cpp
+++ b/src/glim/mapping/async_global_mapping.cpp
@@ -70,6 +70,7 @@ void AsyncGlobalMapping::save(const std::string& path) {
 gtsam_points::PointCloud::Ptr AsyncGlobalMapping::export_points() {
   std::lock_guard<std::mutex> lock(global_mapping_mutex);
   logger->info("exporting points");
+  logger->info("global_mapping: {}", global_mapping.get() == nullptr);
   auto points = global_mapping->export_points();
   return points;
 }
diff --git a/src/glim/viewer/offline_viewer.cpp b/src/glim/viewer/offline_viewer.cpp
index 491561a8..9bc9aa6f 100644
--- a/src/glim/viewer/offline_viewer.cpp
+++ b/src/glim/viewer/offline_viewer.cpp
@@ -15,7 +15,7 @@
 
 namespace glim {
 
-OfflineViewer::OfflineViewer(const std::string& init_map_path) : init_map_path(init_map_path) {}
+OfflineViewer::OfflineViewer(const std::string& init_map_path, const std::string& export_map_path) : init_map_path(init_map_path), export_map_path(export_map_path) {}
 
 OfflineViewer::~OfflineViewer() {}
 
@@ -165,6 +165,21 @@ void OfflineViewer::main_menu() {
   }
   auto export_result = progress_modal->run<bool>("export");
 
+  if (async_global_mapping && !export_map_path.empty()) {
+    logger->info("Exporting map to {}", export_map_path);
+    const std::string path = export_map_path;
+    progress_modal->open<std::string>("auto_export", [this, path = path](guik::ProgressInterface& progress) {
+      export_map(progress, path);
+      return path;
+    });
+    export_map_path.clear();
+  }
+  auto auto_export_result = progress_modal->run<std::string>("auto_export");
+  if (auto_export_result) {
+    logger->info("Exported map to {}", *auto_export_result);
+    request_to_terminate = true;
+  }
+
   // close map
   if (start_close_map) {
     if (async_global_mapping) {
@@ -188,8 +203,12 @@ std::shared_ptr<glim::GlobalMapping> OfflineViewer::load_map(guik::ProgressInter
     params.isam2_relinearize_skip = 1;
     params.isam2_relinearize_thresh = 0.0;
 
-    const auto result = pfd::message("Confirm", "Do optimization?", pfd::choice::yes_no).result();
-    params.enable_optimization = (result == pfd::button::ok) || (result == pfd::button::yes);
+    if (!export_map_path.empty()) {
+      params.enable_optimization = false;
+    } else {
+      const auto result = pfd::message("Confirm", "Do optimization?", pfd::choice::yes_no).result();
+      params.enable_optimization = (result == pfd::button::ok) || (result == pfd::button::yes);
+    }
 
     logger->info("enable_optimization={}", params.enable_optimization);
     global_mapping.reset(new glim::GlobalMapping(params));