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auto export map #316

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Merged
koide3 merged 1 commit into from
Jul 14, 2026
Merged

auto export map #316

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3 changes: 2 additions & 1 deletion include/glim/viewer/offline_viewer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand All @@ -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;
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1 change: 1 addition & 0 deletions src/glim/mapping/async_global_mapping.cpp
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Expand Up @@ -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;
}
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25 changes: 22 additions & 3 deletions src/glim/viewer/offline_viewer.cpp
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Expand Up @@ -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() {}

Expand Down Expand Up @@ -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) {
Expand All @@ -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));
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