refactor: move progressbar to shared lib

octomap_utils/CMakeLists.txt

@@ -10,13 +10,20 @@ find_package(Octomap REQUIRED)
 find_package(PCL REQUIRED)
 
 
-# Include the OctoMap headers
-include_directories(${OCTOMAP_INCLUDE_DIRS})
-include_directories(${PCL_INCLUDE_DIRS})
-
+include_directories(
+    include
+    ${OCTOMAP_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} SHARED
+  progress_bar.cpp
+)
+target_link_libraries(${PROJECT_NAME} ${OCTOMAP_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
 
 add_executable(pcd2bt pcd2bt.cpp)
-target_link_libraries(pcd2bt ${OCTOMAP_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcd2bt ${PROJECT_NAME})
 
 add_executable(get_occ_free_from_bt get_occ_free_from_bt.cpp)
-target_link_libraries(get_occ_free_from_bt ${OCTOMAP_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(get_occ_free_from_bt ${PROJECT_NAME})

octomap_utils/get_occ_free_from_bt.cpp

@@ -6,26 +6,12 @@
 #include <pcl/point_types.h>
 #include <chrono>
 
+#include "progress_bar.h"
+
 using namespace std;
 using namespace octomap;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
 
-// Function to display a simple progress bar
-void displayProgressBar(size_t current, size_t total) {
-    const int barWidth = 50; // Width of the progress bar
-    float progress = static_cast<float>(current) / total;
-    int pos = static_cast<int>(barWidth * progress);
-
-    cout << "[";
-    for (int i = 0; i < barWidth; ++i) {
-        if (i < pos) cout << "=";
-        else if (i == pos) cout << ">";
-        else cout << " ";
-    }
-    cout << "] " << int(progress * 100.0) << "%\r";
-    cout.flush();
-}
-
 void convertOctreeToPointCloud(const OcTree& tree, PointCloud::Ptr& free_cloud, PointCloud::Ptr& occupied_cloud) {
     // Get the total number of leaf nodes for the progress bar
     size_t total_leafs = tree.getNumLeafNodes();

octomap_utils/include/progress_bar.h

@@ -0,0 +1,11 @@
+// progress_bar.h
+
+#ifndef PROGRESS_BAR_H
+#define PROGRESS_BAR_H
+
+#include <iostream>
+
+// Function to display a simple progress bar
+void displayProgressBar(size_t current, size_t total);
+
+#endif // PROGRESS_BAR_H

octomap_utils/progress_bar.cpp

@@ -0,0 +1,19 @@
+#include "progress_bar.h"
+
+void displayProgressBar(size_t current, size_t total) {
+    const int barWidth = 50; // Width of the progress bar
+    float progress = static_cast<float>(current) / total;
+    int pos = static_cast<int>(barWidth * progress);
+
+    std::cout << "[";
+    for (int i = 0; i < barWidth; ++i) {
+        if (i < pos)
+            std::cout << "=";
+        else if (i == pos)
+            std::cout << ">";
+        else
+            std::cout << " ";
+    }
+    std::cout << "] " << int(progress * 100.0) << "%\r";
+    std::cout.flush();
+}