Save/Load config (#98)

* dump config

* load config from dump directory

include/glim/util/config.hpp

@@ -94,35 +94,30 @@ class Config {
    */
   void save(const std::string& path) const;
 
-private:
+protected:
   std::any config;
 };
 
-
 /**
- * @brief Global configuration class to bootstrap the root path of the configuration files 
+ * @brief Global configuration class to bootstrap the root path of the configuration files
  */
 class GlobalConfig : public Config {
 private:
   GlobalConfig(const std::string& global_config_path) : Config(global_config_path) {}
   virtual ~GlobalConfig() override {}
 
 public:
-  static GlobalConfig* instance(const std::string& config_path = std::string()) {
-    if (inst == nullptr) {
-      inst = new GlobalConfig(config_path + "/config.json");
-      inst->override_param("global", "config_path", config_path);
-    }
-    return inst;
-  }
-
-  static std::string get_config_path(const std::string& config_name) {
-    auto config = instance();
-    const std::string directory = config->param<std::string>("global", "config_path", ".");
-    const std::string filename = config->param<std::string>("global", config_name, config_name + ".json");
-    return directory + "/" + filename;
-  }
+  static GlobalConfig* instance(const std::string& config_path = std::string(), bool override_path = false);
 
+  static std::string get_config_path(const std::string& config_name);
+
+  /**
+   * @brief Dump all involved config parameters
+   * @param path Destination path
+   */
+  void dump(const std::string& path);
+
+private:
   static GlobalConfig* inst;
 };
 

src/glim/mapping/global_mapping.cpp

@@ -614,6 +614,9 @@ void GlobalMapping::save(const std::string& path) {
 
     submaps[i]->save((boost::format("%s/%06d") % path % i).str());
   }
+
+  logger->info("saving config");
+  GlobalConfig::instance()->dump(path + "/config");
 }
 
 std::vector<Eigen::Vector4d> GlobalMapping::export_points() {

src/glim/util/config.cpp

@@ -1,5 +1,6 @@
 #include <glim/util/config.hpp>
 
+#include <boost/filesystem.hpp>
 #include <glim/util/config_impl.hpp>
 
 namespace glim {
@@ -50,4 +51,44 @@ DEFINE_CONFIG_IO_SPECIALIZATION(Eigen::Isometry3d)
 
 DEFINE_CONFIG_IO_SPECIALIZATION(std::vector<Eigen::Isometry3d>)
 
+GlobalConfig* GlobalConfig::instance(const std::string& config_path, bool override_path) {
+  if (inst == nullptr || override_path) {
+    if (inst) {
+      delete inst;
+    }
+
+    inst = new GlobalConfig(config_path + "/config.json");
+    inst->override_param("global", "config_path", config_path);
+  }
+  return inst;
+}
+
+std::string GlobalConfig::get_config_path(const std::string& config_name) {
+  auto config = instance();
+  const std::string directory = config->param<std::string>("global", "config_path", ".");
+  const std::string filename = config->param<std::string>("global", config_name, config_name + ".json");
+  return directory + "/" + filename;
+}
+
+void GlobalConfig::dump(const std::string& path) {
+  spdlog::debug("dumping config to {} (config_path={})", path, param<std::string>("global", "config_path", "."));
+  boost::filesystem::create_directories(path);
+  this->save(path + "/config.json");
+
+  const auto& json = std::any_cast<const nlohmann::json&>(config);
+  for (const auto& param : json["global"].items()) {
+    const std::string config_name = param.key();
+    const std::string config_file = param.value();
+    if (config_name == "config_path" || config_name == "config_ext") {
+      continue;
+    }
+
+    spdlog::debug("dumping {} : {}", config_name, config_file);
+    const Config conf(get_config_path(config_name));
+    conf.save(path + "/" + config_file);
+  }
+
+  spdlog::debug("dumping global config done");
+}
+
 }  // namespace glim

src/glim/viewer/offline_viewer.cpp

@@ -1,8 +1,10 @@
 #include <glim/viewer/offline_viewer.hpp>
 
+#include <boost/filesystem.hpp>
 #include <gtsam_points/config.hpp>
 #include <gtsam_points/optimizers/linearization_hook.hpp>
 #include <gtsam_points/cuda/nonlinear_factor_set_gpu_create.hpp>
+#include <glim/util/config.hpp>
 
 #include <spdlog/spdlog.h>
 #include <portable-file-dialogs.h>
@@ -84,6 +86,14 @@ void OfflineViewer::main_menu() {
 
     if (!map_path.empty()) {
       recent_files.push(map_path);
+
+      if (boost::filesystem::exists(map_path + "/config")) {
+        logger->info("Use config from {}", map_path + "/config");
+        GlobalConfig::instance(map_path + "/config", true);
+      } else {
+        logger->warn("No config found in {}", map_path);
+      }
+
       progress_modal->open<std::shared_ptr<GlobalMapping>>("open", [this, map_path](guik::ProgressInterface& progress) { return load_map(progress, map_path); });
     }
   }
@@ -143,7 +153,7 @@ std::shared_ptr<GlobalMapping> OfflineViewer::load_map(guik::ProgressInterface&
   const auto result = pfd::message("Confirm", "Do optimization?", pfd::choice::yes_no).result();
   params.enable_optimization = (result == pfd::button::ok) || (result == pfd::button::yes);
 
-  std::cout << "enable_optimization:" << params.enable_optimization << std::endl;
+  logger->info("enable_optimization={}", params.enable_optimization);
   std::shared_ptr<glim::GlobalMapping> global_mapping(new glim::GlobalMapping(params));
   if (!global_mapping->load(path)) {
     logger->error("failed to load {}", path);