change view_showxodrinvtk.

src/tool/view_ndtmatching/mainwindow.cpp

@@ -4,6 +4,8 @@
 #include <pcl/io/ply_io.h>
 #include <pcl/io/obj_io.h>
 
+#include "showxodrinvtk.h"
+
 #include <QMessageBox>
 
 static pose gCurPose;
@@ -86,6 +88,12 @@ void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
 {
     //设置背景颜色
    viewer.setBackgroundColor(0.0,0.0,0.0);
+
+   double flon0,flat0;
+   bool bxodr = false;
+
+   ShowXODRINVTK(viewer,flon0,flat0,bxodr,-1.8);
+
    viewer.resetCamera();
 
 //   pcl::ModelCoefficients line_coeff;

src/tool/view_ndtmatching/view_ndtmatching.pro

@@ -33,6 +33,8 @@ INCLUDEPATH += /usr/include/vtk-6.3
 INCLUDEPATH += /usr/include/vtk-6.2
 INCLUDEPATH += /usr/include/vtk-7.1
 
+INCLUDEPATH += $$PWD/../view_showxodrinvtk
+
 unix:LIBS +=  -lpcl_common\
         -lpcl_features\
         -lpcl_filters\
@@ -52,6 +54,8 @@ unix:LIBS +=  -lpcl_common\
         -lpcl_tracking\
         -lpcl_visualization
 
+LIBS += -lshowxodrinvtk
+
 #INCLUDEPATH += $$PWD/../../../include/
 #LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault
 

src/tool/view_showxodrinvtk/main.cpp

@@ -16,8 +16,10 @@ void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
     //设置背景颜色
    viewer.setBackgroundColor(0.0,0.0,0.0);
 
+   double flon0,flat0;
+   bool bxodr = false;
 
-   ShowXODRINVTK(viewer);
+   ShowXODRINVTK(viewer,flon0,flat0,bxodr,-1.7);
 
    viewer.resetCamera();
 

src/tool/view_showxodrinvtk/showxodrinvtk.cpp

@@ -100,7 +100,7 @@ void ShowRoad(pcl::visualization::PCLVisualizer& viewer,Road * pRoad,double  fz)
 
 }
 
-void ShowXODRINVTK(pcl::visualization::PCLVisualizer& viewer,double  fz)
+void ShowXODRINVTK(pcl::visualization::PCLVisualizer& viewer,double & flon,double & flat,bool & bxodr,double  fz)
 {
 
     char strpath[256];
@@ -109,7 +109,12 @@ void ShowXODRINVTK(pcl::visualization::PCLVisualizer& viewer,double  fz)
     OpenDrive xxodr;
 
     OpenDriveXmlParser xp(&xxodr);
-    xp.ReadFile(strpath);
+    bxodr = xp.ReadFile(strpath);
+
+    if(bxodr)
+    {
+        xxodr.GetHeader()->GetLat0Lon0(flat,flon);
+    }
 
     unsigned int i;
     for(i=0;i<xxodr.GetRoadCount();i++)

src/tool/view_showxodrinvtk/showxodrinvtk.h

@@ -3,6 +3,6 @@
 
 #include <pcl/visualization/cloud_viewer.h>
 
-void ShowXODRINVTK(pcl::visualization::PCLVisualizer& viewer,double  fz = 0.0);
+void ShowXODRINVTK(pcl::visualization::PCLVisualizer& viewer,double & flon,double & flat,bool & bxodr, double  fz = 0.0);
 
 #endif // SHOWXODRINVTK_H

src/tool/view_showxodrinvtk/showxodrinvtk.pro

@@ -0,0 +1,82 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2018-07-10T05:46:48
+#
+#-------------------------------------------------
+
+QT       -= gui
+
+TARGET = showxodrinvtk
+TEMPLATE = lib
+
+DEFINES += NDT_CPU_LIBRARY
+
+VERSION = 1.0.1
+CONFIG += plugin
+CONFIG += c++11
+
+
+SOURCES +=  const.cpp \
+    fresnl.cpp \
+    polevl.c \
+    showxodrinvtk.cpp
+
+!include(../../common/common/xodr/OpenDrive/OpenDrive.pri ) {
+    error( "Couldn't find the OpenDrive.pri file!" )
+}
+
+!include(../../common/common/xodr/TinyXML/TinyXML.pri ) {
+    error( "Couldn't find the TinyXML.pri file!" )
+}
+
+!include(../../common/common/xodr/xodrfunc/xodrfunc.pri ) {
+    error( "Couldn't find the xodrfunc.pri file!" )
+}
+
+
+INCLUDEPATH += $$PWD/../../common/common/xodr
+
+INCLUDEPATH += $$PWD/../../common/common/xodr/xodrfunc
+
+QMAKE_LFLAGS += -no-pie
+
+INCLUDEPATH += /usr/include/eigen3
+INCLUDEPATH += /usr/include/pcl-1.8
+INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /usr/include/pcl-1.7
+INCLUDEPATH += /usr/include/vtk-6.3
+INCLUDEPATH += /usr/include/vtk-6.2
+INCLUDEPATH += /usr/include/vtk-7.1
+
+
+DEFINES += NOTINPILOT
+
+unix:LIBS +=  -lpcl_common\
+        -lpcl_features\
+        -lpcl_filters\
+        -lpcl_io\
+        -lpcl_io_ply\
+        -lpcl_kdtree\
+        -lpcl_keypoints\
+        -lpcl_octree\
+        -lpcl_outofcore\
+        -lpcl_people\
+        -lpcl_recognition\
+        -lpcl_registration\
+        -lpcl_sample_consensus\
+        -lpcl_search\
+        -lpcl_segmentation\
+        -lpcl_surface\
+        -lpcl_tracking\
+        -lpcl_visualization
+
+LIBS += -lboost_system
+LIBS += -lvtkCommonExecutionModel-6.3 -lvtkCommonCore-6.3 -lvtkRenderingLOD-6.3 -lvtkRenderingCore-6.3 \
+        -lvtkFiltersSources-6.3
+
+#LIBS += -lvtkCommonExecutionModel-7.1 -lvtkCommonCore-7.1 -lvtkRenderingLOD-7.1 -lvtkRenderingCore-7.1 \
+#        -lvtkFiltersSources-7.1
+
+HEADERS += \
+    mconf.h \
+    showxodrinvtk.h