WIP: save/load poses from file

Poses automatically saved/loaded from file (config_dir/poses.bin).

applications/gui2/src/modules/camera.cpp

 #include "camera.hpp"
 #include "statistics.hpp"
 
+#include <ftl/file.hpp>
+
 #include "../views/camera3d.hpp"
 #include <ftl/rgbd/capabilities.hpp>
 #include <ftl/streams/renderer.hpp>
@@ -18,6 +20,8 @@
 
 #include <loguru.hpp>
 
+// ==== Camera =================================================================
+
 using ftl::gui2::Camera;
 using ftl::codecs::Channel;
 using ftl::rgbd::Capability;
@@ -31,6 +35,17 @@ void Camera::init() {
 
 	overlay_ = std::unique_ptr<ftl::overlay::Overlay>
 		(ftl::create<ftl::overlay::Overlay>(this, "overlay"));
+
+	try {
+		ftl::file::unpack(file::config_dir() / "poses.bin", poses_);
+		for (const auto& pose : poses_) {
+			ftl::operators::Poser::add(pose, frame_id_);
+		}
+		LOG(INFO) << "Poses loaded from file (" << poses_.size()  << " items)";
+	}
+	catch (msgpack::insufficient_bytes&) {
+		LOG(INFO) << "No poses loaded from file";
+	}
 }
 
 void Camera::update(double delta) {
@@ -585,7 +600,7 @@ void Camera::setCursor(int x, int y) {
 
 void Camera::setOriginToCursor() {
 	using ftl::calibration::transform::inverse;
-	
+
 	// Check for valid cursor
 	/*if (cursor_normal_.norm() == 0.0f) return;
 	float cursor_length = (cursor_target_ - cursor_pos_).norm();
@@ -617,17 +632,17 @@ void Camera::setOriginToCursor() {
 		}
 	}
 
-	cursor_target_ = Eigen::Vector3f(0.0f,0.0f,0.0f); 
+	cursor_target_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
 	cursor_pos_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
-	cursor_normal_ = Eigen::Vector3f(0.0f,0.0f,0.0f); 
+	cursor_normal_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
 	cursor_ = _cursor();
 }
 
 void Camera::resetOrigin() {
-	cursor_target_ = Eigen::Vector3f(0.0f,0.0f,0.0f); 
+	cursor_target_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
 	cursor_pos_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
 	cursor_normal_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
-	cursor_ = _cursor(); 
+	cursor_ = _cursor();
 
 	if (movable_) {
 		auto *rend = io->feed()->getRenderer(frame_id_);
@@ -656,11 +671,14 @@ void Camera::resetOrigin() {
 void Camera::saveCursorToPoser() {
 	ftl::codecs::Shape3D shape;
 	shape.type = ftl::codecs::Shape3DType::CURSOR;
-	shape.id = cursor_save_id_++;
+	shape.id = poses_.size();
 	shape.label = std::string("Cursor") + std::to_string(shape.id);
 	shape.pose = cursor().inverse().cast<float>();
 	shape.size = Eigen::Vector3f(0.1f,0.1f,0.1f);
 
+	auto k = (*(io->feed()->getFrameSet(frame_id_.frameset())))[frame_id_.source()].name();
+	poses_.push_back(shape);
+	ftl::file::pack(ftl::file::config_dir() / "poses.bin", poses_);
 	ftl::operators::Poser::add(shape, frame_id_);
 }