yaml-cpp: OK

.gitignore

@@ -1,4 +1,3 @@
 /.vscode
 /.log
-/lib
 /build

CMakeLists.txt

@@ -6,8 +6,9 @@ set(CMAKE_CXX_FLAGS "-std=c++17  -lpthread")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 find_package(Ceres REQUIRED)
-find_package(PCL REQUIRED)
+find_package(PCL QUIET)
 find_package(g3log REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
@@ -22,11 +23,14 @@ find_package(catkin REQUIRED COMPONENTS
   tf
 )
 
-include_directories(
+include_directories(SYSTEM
 	${catkin_INCLUDE_DIRS} 
   ${PCL_INCLUDE_DIRS}
   ${CERES_INCLUDE_DIRS}
   ${G3LOG_INCLUDE_DIRS}
+)
+
+include_directories(
   src
   common
 )
@@ -37,7 +41,6 @@ catkin_package(
   INCLUDE_DIRS src common
 )
 
-
 add_subdirectory(common)
 add_subdirectory(src)
 
@@ -46,7 +49,8 @@ target_link_libraries(oh_my_loam
   ${catkin_LIBRARIES} 
   ${PCL_LIBRARIES}
   ${CERES_LIBRARIES}
-  ${G3LOG_INCLUDE_DIRS}
+  ${G3LOG_LIBRARIES}
+  ${YAML_CPP_LIBRARIES}
   g3log
   OhMyLoam
 )

config/config.yaml

@@ -0,0 +1,6 @@
+%YAML:1.0
+
+lidar: VPL16
+
+feature_points_extractor_config:
+  min_point_num: 10

main.cc

@@ -1,6 +1,7 @@
 #include <pcl_conversions/pcl_conversions.h>
 #include <ros/ros.h>
 #include <sensor_msgs/PointCloud2.h>
+#include <yaml-cpp/yaml.h>
 
 #include <functional>
 
@@ -11,11 +12,17 @@ void PointCloudHandler(const sensor_msgs::PointCloud2ConstPtr& msg,
                        oh_my_loam::OhMyLoam* const slam);
 
 int main(int argc, char* argv[]) {
-  g3::InitG3Logging<true>("oh_my_loam", ".log");
+  // logging
+  g3::InitG3Logging<false>("oh_my_loam", ".log");
 
+  // configurations
+  YAML::Node config = YAML::LoadFile("./config/config.yaml");
+  AWARN << config["lidar"].as<std::string>();
+  // SLAM system
   oh_my_loam::OhMyLoam slam;
-  slam.Init();
+  slam.Init(config);
 
+  // ros
   ros::init(argc, argv, "oh_my_loam");
   ros::NodeHandle nh;
   ros::Subscriber sub_point_cloud = nh.subscribe<sensor_msgs::PointCloud2>(

src/oh_my_loam.cc

@@ -2,8 +2,9 @@
 
 namespace oh_my_loam {
 
-bool OhMyLoam::Init() {
+bool OhMyLoam::Init(const YAML::Node& config) {
   is_vis_ = true;
+  config_ = config;
   feature_extractor_.reset(new FeatureExtractorVLP16);
   if (is_vis_) {
     visualizer_.reset(new FeaturePointsVisualizer);

src/oh_my_loam.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <yaml-cpp/yaml.h>
+
 #include "common.h"
 #include "feature_extractor_VLP16.h"
 #include "visualizer_feature_points.h"
@@ -13,7 +15,7 @@ class OhMyLoam {
   OhMyLoam(const OhMyLoam&) = delete;
   OhMyLoam& operator=(const OhMyLoam&) = delete;
 
-  bool Init();
+  bool Init(const YAML::Node& config);
 
   void Run(const PointCloud& cloud, double timestamp);
 
@@ -25,6 +27,7 @@ class OhMyLoam {
   bool is_vis_ = false;
   std::unique_ptr<FeaturePointsExtractor> feature_extractor_ = nullptr;
   std::unique_ptr<FeaturePointsVisualizer> visualizer_ = nullptr;
+  YAML::Node config_;
 };
 
 }  // namespace oh_my_loam