map_editor.hpp

#pragma once
 
#include <unordered_map>
 
#include <spdlog/spdlog.h>
#include <guik/progress_modal.hpp>
#include <glim/mapping/sub_map.hpp>
#include <gtsam_points/types/point_cloud_cpu.hpp>
 
#include <glim/viewer/editor/map_cell.hpp>
#include <glim/viewer/editor/points_selector.hpp>
 
namespace glim {
 
class MapEditor {
public:
  MapEditor(const std::string& init_map_path);
  ~MapEditor();
 
  void run();
 
private:
  void main_menu();
 
  void ui_callback();
 
  std::vector<glim::SubMap::Ptr> load_submaps(guik::ProgressInterface& progress, const std::string& map_path);
 
  bool save_submaps(guik::ProgressInterface& progress, const std::string& save_path);
 
private:
  std::shared_ptr<spdlog::logger> logger;
  std::unique_ptr<guik::ProgressModal> progress_modal;
 
  std::string map_path;       
  std::string init_map_path;  
 
  std::vector<glim::SubMap::Ptr> submaps;    
  std::unique_ptr<PointsSelector> selector;  
};
 
}  // namespace glim