add example that does not need ROS support

README.md

@@ -27,17 +27,32 @@ Although **Oh-My-LOAM** is ROS-free, running it with ROS bag as input is the sim
 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: 
+Launch **Oh-My-LOAM**: 
 ```
 ./devel/lib/oh_my_loam/main_rosbag ../configs/config_nsh_indoor_outdoor.yaml
 ```
-Play bag:
+Play ROS bag (in a new terminal):
 ```
 ros play nsh_indoor_outdoor.bag
 ```
 
 ## Run without ROS support
-You can write by yourself.
+Launch **Oh-My-LOAM**:
+```
+./devel/lib/oh_my_loam/main_noros ../configs/config_nsh_indoor_outdoor.yaml xxxxxx
+```
+Please replace `xxxxxx` with the directory that contains the input point cloud files with tree structure like following: 
+```
+xxxxxx
+├── frame00000.pcd               
+├── frame00001.pcd               
+├── frame00002.pcd               
+├── frame00003.pcd               
+├── frame00004.pcd
+├── ...          
+```
+Currently only `.pcd` format is supported. 
+You can modify `examples/main_noros.cc` to add support for other point cloud formats.  
 
 # Dependences
 

common/config/yaml_config.cc

@@ -0,0 +1,13 @@
+
+#include "common/config/yaml_config.h"
+
+namespace common {
+
+YAMLConfig::YAMLConfig() {}
+
+void YAMLConfig::Init(const std::string &file) {
+  config_.reset(new YAML::Node);
+  *config_ = YAML::LoadFile(file);
+}
+
+}  // namespace common

common/config/yaml_config.h

@@ -11,10 +11,7 @@ namespace common {
 
 class YAMLConfig {
  public:
-  void Init(const std::string &file) {
-    config_.reset(new YAML::Node);
-    *config_ = YAML::LoadFile(file);
-  }
+  void Init(const std::string &file);
 
   template <typename T>
   const T Get(const std::string &key) const {

common/log/log.cc

@@ -68,7 +68,7 @@ std::string CustomSink::GetColorCode(const LEVELS &level) const {
     return "\033[1m\033[34m";  // bold blue
   }
   if (g3::internal::wasFatal(level)) {
-    return "\033[1m\033[31m";  // red
+    return "\033[1m\033[31m";  // bold red
   }
   return "\033[97m";  // white
 }

common/macro/macros.h

@@ -20,5 +20,5 @@
   }                                  \
                                      \
  private:                            \
-  classname() = default;             \
+  classname();                       \
   DISALLOW_COPY_AND_ASSIGN(classname)

examples/CMakeLists.txt

@@ -32,3 +32,19 @@ target_link_libraries(main_rosbag
   visualizer
   base
 )
+
+add_executable(main_noros main_noros.cc)
+target_link_libraries(main_noros
+  ${PCL_LIBRARIES}
+  ${G3LOG_LIBRARIES}
+  ${YAML_CPP_LIBRARIES}
+  common
+  oh_my_loam
+  extractor
+  odometer
+  mapper
+  solver
+  ${CERES_LIBRARIES}
+  visualizer
+  base
+)

examples/main_noros.cc

@@ -0,0 +1,67 @@
+#include <pcl/io/pcd_io.h>
+
+#include <chrono>
+#include <filesystem>
+#include <functional>
+#include <thread>
+
+#include "common/common.h"
+#include "oh_my_loam/oh_my_loam.h"
+
+using namespace common;
+using namespace oh_my_loam;
+namespace fs = std::filesystem;
+
+void PointCloudHandler(const PointCloudConstPtr &cloud, OhMyLoam *const slam);
+
+int main(int argc, char *argv[]) {
+  if (argc != 3) {
+    std::cerr << "\033[1m\033[31mConfiguration file and input path should be "
+                 "specified!\033[m"
+              << std::endl;
+    return -1;
+  }
+  // config
+  YAMLConfig::Instance()->Init(argv[1]);
+  bool is_log_to_file = YAMLConfig::Instance()->Get<bool>("log_to_file");
+  std::string log_path = YAMLConfig::Instance()->Get<std::string>("log_path");
+  std::string lidar = YAMLConfig::Instance()->Get<std::string>("lidar");
+  // logging
+  InitG3Logging(is_log_to_file, "oh_my_loam_" + lidar, log_path);
+  AUSER << "LOAM start..., lidar = " << lidar;
+  // SLAM system
+  OhMyLoam slam;
+  if (!slam.Init()) {
+    AFATAL << "Failed to initilize slam system.";
+  }
+  // get input point cloud file names
+  ACHECK(fs::exists(argv[2])) << "Directory not exist: " << argv[2];
+  std::vector<fs::path> cloud_paths;
+  for (auto &it : fs::directory_iterator(argv[2])) {
+    if (fs::is_regular_file(it.path())) cloud_paths.push_back(it.path());
+  }
+  AWARN_IF(cloud_paths.empty())
+      << "No point cloud file in directory: " << argv[2];
+  AINFO_IF(!cloud_paths.empty())
+      << "There are " << cloud_paths.size() << " point clouds in total";
+  std::sort(cloud_paths.begin(), cloud_paths.end());
+  // load point cloud and process
+  for (auto &path : cloud_paths) {
+    PointCloudPtr cloud(new PointCloud);
+    pcl::io::loadPCDFile(path.string(), *cloud);
+    PointCloudHandler(cloud, &slam);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+  return 0;
+}
+
+void PointCloudHandler(const PointCloudConstPtr &cloud, OhMyLoam *const slam) {
+  auto millisecs = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::system_clock::now().time_since_epoch());
+  double timestamp = millisecs.count() / 1000.0;
+  static size_t frame_id = 0;
+  AINFO << "Ohmyloam: frame_id = " << ++frame_id
+        << ", timestamp = " << FMT_TIMESTAMP(timestamp)
+        << ", point_number = " << cloud->size();
+  slam->Run(timestamp, cloud);
+}

examples/main_rosbag.cc

@@ -16,13 +16,18 @@ void PointCloudHandler(const sensor_msgs::PointCloud2ConstPtr &msg,
                        OhMyLoam *const slam);
 
 int main(int argc, char *argv[]) {
+  if (argc != 2) {
+    std::cerr << "\033[1m\033[31mConfiguration file should be specified!\033[m"
+              << std::endl;
+    return -1;
+  }
   // config
   YAMLConfig::Instance()->Init(argv[1]);
-  bool log_to_file = YAMLConfig::Instance()->Get<bool>("log_to_file");
+  bool is_log_to_file = YAMLConfig::Instance()->Get<bool>("log_to_file");
   std::string log_path = YAMLConfig::Instance()->Get<std::string>("log_path");
   std::string lidar = YAMLConfig::Instance()->Get<std::string>("lidar");
   // logging
-  InitG3Logging(log_to_file, "oh_my_loam_" + lidar, log_path);
+  InitG3Logging(is_log_to_file, "oh_my_loam_" + lidar, log_path);
   AUSER << "LOAM start..., lidar = " << lidar;
   // SLAM system
   OhMyLoam slam;