style: add progress bar to indicate time and reorganize file to src.

progress bar: clearly know the progress during running.
update README as well.

Author: Kin-Zhang

CMakeLists.txt

@@ -13,9 +13,8 @@ endif()
 
 add_subdirectory(ufomap)
 include_directories(${CMAKE_SOURCE_DIR}/ufomap)
-# add_subdirectory(src)
 
-add_executable(dufomap_run dufomap.cpp)
+add_executable(dufomap_run src/dufomap.cpp)
 set_target_properties(dufomap_run
 	PROPERTIES
 	VERSION ${PROJECT_VERSION}
@@ -48,4 +47,4 @@ target_compile_options(dufomap_run
 
 	# -Wshadow
 	# -march=native
-)
+)

README.md

@@ -37,8 +37,8 @@ cmake -B build -D CMAKE_CXX_COMPILER=g++-10 && cmake --build build
 Prepare Data: Teaser data (KITTI 00: 384.4Mb) can be downloaded via follow commands, more data detail can be found in the [dataset section](https://github.com/KTH-RPL/DynamicMap_Benchmark?tab=readme-ov-file#dataset--scripts) or format your own dataset follow [custom dataset section](https://github.com/KTH-RPL/DynamicMap_Benchmark/blob/master/scripts/README.md#custom-dataset).
 
 ```bash
-wget https://zenodo.org/records/8160051/files/00.zip
-unzip 00.zip -d data
+wget https://zenodo.org/records/8160051/files/00.zip -p data
+unzip data/00.zip -d data
 ```
 
 Run:
@@ -60,9 +60,8 @@ Please reference to [DynamicMap_Benchmark](https://github.com/KTH-RPL/DynamicMap
 
 Thanks to HKUST Ramlab's members: Bowen Yang, Lu Gan, Mingkai Tang, and Yingbing Chen, who help collect additional datasets. 
 
-This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program ([WASP](https://wasp-sweden.org/)) funded by the Knut and Alice Wallenberg Foundation
+This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program ([WASP](https://wasp-sweden.org/)) funded by the Knut and Alice Wallenberg Foundation including the WASP NEST PerCorSo.
 
-The original DUFOMap code is from the fork repo: [UnknownFreeOccupied/ufomap/tree/dufomap](https://github.com/UnknownFreeOccupied/ufomap/tree/dufomap). 
 Feel free to explore below projects that use [ufomap](https://github.com/UnknownFreeOccupied/ufomap) (attach code links as follows):
 - [RA-L'24 DUFOMap, Dynamic Awareness]()
 - [RA-L'23 SLICT, SLAM](https://github.com/brytsknguyen/slict)

dufomap.cpp src/dufomap.cppdufomap.cpp renamed to src/dufomap.cpp

@@ -14,6 +14,7 @@
 
 // TOML
 #include "toml.hpp"
+#include "indicators.hpp"
 
 // STL
 #include <cstdio>
@@ -365,7 +366,20 @@ int main(int argc, char* argv[])
 	ufo::PointCloudColor cloud_acc;
 
 	std::cout << "[LOG] Step 2: Starting Processing data from: " << path << '\n';
+	indicators::show_console_cursor(false);
+	indicators::BlockProgressBar bar{
+		indicators::option::BarWidth{50},
+		indicators::option::Start{"["},
+		indicators::option::End{"]"},
+		indicators::option::PrefixText{"[LOG] Running dufomap "},
+		indicators::option::ForegroundColor{indicators::Color::white},
+		indicators::option::ShowElapsedTime{true},
+		indicators::option::ShowRemainingTime{true},
+		indicators::option::FontStyles{std::vector<indicators::FontStyle>{indicators::FontStyle::bold}}
+	};
+	
 	for (std::size_t i{}; std::string filename : pcds) {
+		bar.set_progress(100 * i / pcds.size());
 		++i;
 		timing.setTag("Total " + std::to_string(i) + " of " + std::to_string(pcds.size()) +
 		              " (" + std::to_string(100 * i / pcds.size()) + "%)");
@@ -386,7 +400,9 @@ int main(int argc, char* argv[])
 			timing.print(true, true, 2, 4);
 		}
 	}
-
+	indicators::show_console_cursor(true);
+	std::cout << "\033[0m\n[LOG] Step 3: Finished Processing data. Start saving map... " << std::endl;
+	// bar.is_completed();
 	if (!config.propagate) {
 		timing[3].start("Propagate");
 		map.propagateModified();
@@ -403,12 +419,8 @@ int main(int argc, char* argv[])
 	ufo::PointCloudColor cloud_static;
 
 	for (auto& p : cloud_acc) {
-		if (!map.seenFree(p)){
-			// NOTE: change to white color, comment if you want to keep the original color
-			if (static_cast<ufo::Color&>(p) == ufo::Color{0, 0, 0})
-				static_cast<ufo::Color&>(p) = ufo::Color{255, 255, 255};
+		if (!map.seenFree(p))
 			cloud_static.push_back(p);
-		}
 	}
 
 	timing[5].stop();