change pointcloudviewer. for change flag in xml.

src/tool/pointcloudviewer/main.cpp

@@ -10,12 +10,23 @@
 #include "modulecomm.h"
 #include "ivversion.h"
 
+#include "xmlparam.h"
+
 #include <getopt.h>
 
 char gstr_memname[256];
 char gstr_xmlpath[256];
 char gstr_logpath[256];
 
+double gflag_x = 0;
+double gflag_y = 10;
+double gflag_z = -1;
+double gflag_x_len = 1;
+double gflag_y_len = 1;
+double gflag_z_len = 1;
+bool gbflag_show = true;
+bool gbcar_show = true;
+
 void print_useage()
 {
     std::cout<<" -m --memname $mappath : share memory name. eq.  -m lidar_pc"<<std::endl;
@@ -182,9 +193,12 @@ void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
 //    pos.z = 1;
 //    viewer.addText3D("car",pos,0.1,1.0,0.0,0.0);
 
-    viewer.addCube(-0.9,0.9,9.5,10.5,-1.9,-0.4,0.0,1.0,0.0,"flag",0);
+    if(gbflag_show)
+        viewer.addCube(gflag_x -0.5* gflag_x_len,gflag_x + 0.5* gflag_x_len, gflag_y - 0.5* gflag_y_len, gflag_y + 0.5* gflag_y_len,
+                       gflag_z - 0.5* gflag_z_len,gflag_z + 0.5* gflag_z_len,0.0,1.0,0.0,"flag",0);
     //Draw Car
-    viewer.addCube(-0.9,0.9,-2.3,2.3,-1.9,-0.4,0.0,0.0,1.0,"car",0);
+    if(gbcar_show)
+        viewer.addCube(-0.9,0.9,-2.3,2.3,-1.9,-0.4,0.0,0.0,1.0,"car",0);
 
 
     viewer.addCoordinateSystem(1.0);
@@ -230,6 +244,19 @@ void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
 }
 
 
+void LoadParam(std::string strxmlpath)
+{
+    iv::xmlparam::Xmlparam xp(strxmlpath);
+    gflag_x = xp.GetParam("flag_x",0);
+    gflag_y = xp.GetParam("flag_y",10);
+    gflag_z = xp.GetParam("flag_z",-1.15);
+    gflag_x_len = xp.GetParam("flag_x_len",1.8);
+    gflag_y_len = xp.GetParam("flag_y_len",1.0);
+    gflag_z_len = xp.GetParam("flag_z_len",1.5);
+    gbflag_show = xp.GetParam("flag_show",true);
+    gbcar_show = xp.GetParam("car_show",true);
+}
+
 
 int main(int argc, char *argv[])
 {
@@ -247,6 +274,8 @@ int main(int argc, char *argv[])
         return 0;
     }
 
+    LoadParam("pointcloudviewer.xml");
+
 
 
 

src/tool/pointcloudviewer/pointcloudviewer.xml

@@ -0,0 +1,12 @@
+<xml>	
+	<node name="pointcloudviewer">
+		<param name="flag_x" value="0" />
+		<param name="flag_y" value="10" />
+		<param name="flag_z" value="-1.15" />
+		<param name="flag_x_len" value="1.8" />
+		<param name="flag_y_len" value="1.0" />
+		<param name="flag_z_len" value="1.5" />
+		<param name="flag_show" value="true" />
+		<param name="car_show" value="true" />
+	</node>
+</xml>