add lines in README

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 project(oh_my_loam)
 
-set(CMAKE_CXX_FLAGS "-std=c++17 -Wall -lpthread")
+set(CMAKE_CXX_FLAGS "-std=c++17 -Wall")
 set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
@@ -10,48 +10,15 @@ find_package(PCL QUIET)
 find_package(g3log REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  nav_msgs
-  sensor_msgs
-  roscpp
-  rospy
-  rosbag
-  std_msgs
-)
-
 include_directories(SYSTEM
-	${catkin_INCLUDE_DIRS} 
   ${PCL_INCLUDE_DIRS}
   ${G3LOG_INCLUDE_DIRS}
 )
 
-catkin_package(
-  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
-  DEPENDS EIGEN3 PCL 
-  INCLUDE_DIRS oh_my_loam common
-)
-
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
 add_subdirectory(common)
 add_subdirectory(oh_my_loam)
-
-add_executable(main main.cc)
-target_link_libraries(main
-  ${catkin_LIBRARIES} 
-  ${PCL_LIBRARIES}
-  ${G3LOG_LIBRARIES}
-  ${YAML_CPP_LIBRARIES}
-  common
-  oh_my_loam
-  extractor
-  odometer
-  mapper
-  solver
-  ${CERES_LIBRARIES}
-  visualizer
-  base
-)
+add_subdirectory(examples)

README.md

@@ -1,18 +1,68 @@
 # Oh-My-LOAM
 
-Oh-My-LOAM is a ROS-free implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time). This implementation is modified from [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM). 
+Oh-My-LOAM is a ROS-free implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time). 
+This implementation is modified from [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM). 
 
 Comparing with A-LOAM, this implementation has following features:
 
 - it's ROS-free
 - it's more readable and easier to understand/modify
 
+<img src="images/nsh_indoor_outdoor.png" alt="" height="500" align="bottom" />
+
+# How to run
+## BUILD
+
+Install dependences (lsted below).\
+Clone this repository\
+Compile: 
+```bash
+mkdir build && cd build
+cmake ..
+make -j6
+```
+
+## Run with ROS bag as input
+Although **Oh-My-LOAM** is ROS-free, running it with ROS bag as input is the simplest way.
+We'll take *nsh_indoor_outdoor.bag* as example. 
+You can download this bag from [google drive](https://drive.google.com/file/d/1s05tBQOLNEDDurlg48KiUWxCp-YqYyGH/view) or [baidupan](https://pan.baidu.com/s/1TbfMQ3Rvmmn1hCjFhXSPcQ) (提取码:9nf7).
+
+Launch: 
+```
+./devel/lib/oh_my_loam/main_rosbag ../configs/config_nsh_indoor_outdoor.yaml
+```
+Play bag:
+```
+ros play nsh_indoor_outdoor.bag
+```
+
+## Run without ROS support
+You can write by yourself.
+
 # Dependences
 
-- Eigen: linear algebra, quaternion
-- pcl: point cloud processing
-- g3log: logging
-- yaml-cpp: yaml parsing
-- ceres: non-linear optimization
-- c++17
+### 1. C++17
+### 2. Eigen: linear algebra, quaternion
+```
+sudo apt install libeigen3-dev
+```
 
+### 3. pcl: point cloud processing
+```
+sudo apt install libpcl-dev
+```
+
+### 4. g3log: logging
+Follow [g3log](https://github.com/KjellKod/g3log) to install.
+
+### 5. yaml-cpp: yaml parsing
+```
+sudo apt install libyaml-cpp-dev
+```
+
+### 6. ceres: non-linear optimization
+```
+sudo apt install libceres-dev
+```
+
+### ROS (optional)

common/registerer/registerer.h

@@ -66,4 +66,4 @@ class Registerer {
   __attribute__((constructor)) void Register##derived_class() {                \
     ::common::Registerer<base_class>::Register<derived_class>(#derived_class); \
   }                                                                            \
-  }  // namespace
+  }  // namespace

configs/config_nsh_indoor_outdoor.yaml

@@ -3,7 +3,6 @@ lidar: VLP16
 log_to_file: false
 log_path: /data/log/oh_my_loam
 vis: true
-save_map: true
 save_map_path: /data/log/oh_my_loam.pcd
 
 # configs for extractor

examples/CMakeLists.txt

@@ -0,0 +1,34 @@
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  roscpp
+  rospy
+  rosbag
+  std_msgs
+)
+
+include_directories(SYSTEM
+	${catkin_INCLUDE_DIRS} 
+)
+
+catkin_package(
+  CATKIN_DEPENDS roscpp rospy std_msgs
+)
+
+add_executable(main_rosbag main_rosbag.cc)
+target_link_libraries(main_rosbag
+  ${catkin_LIBRARIES} 
+  ${PCL_LIBRARIES}
+  ${G3LOG_LIBRARIES}
+  ${YAML_CPP_LIBRARIES}
+  common
+  oh_my_loam
+  extractor
+  odometer
+  mapper
+  solver
+  ${CERES_LIBRARIES}
+  visualizer
+  base
+)

examples/package.xml

@@ -4,10 +4,10 @@
   <version>0.0.0</version>
 
   <description>
-    Reimplementation of LOAM.
+    A ROS-free implementation of LOAM.
   </description>
 
-  <maintainer email="fei-china@139.com">qintong</maintainer>
+  <maintainer email="fei-china@139.com">feixyz</maintainer>
 
   <license>BSD</license>
 

oh_my_loam/visualizer/ohmyloam_visualizer.cc

@@ -44,6 +44,7 @@ void OhmyloamVisualizer::KeyboardEventCallback(
     }
     is_updated_ = true;
   } else if (event.getKeySym() == "s" && event.keyDown()) {
+    if (save_path_.empty()) return;
     auto frame = GetCurrentFrame<OhmyloamVisFrame>();
     PointCloud cloud;
     cloud.reserve(frame.cloud_map_surf->size() + frame.cloud_map_surf->size());