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@@ -0,0 +1,249 @@
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+#include <pcl/visualization/cloud_viewer.h>
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+#include <iostream>
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+#include <pcl/io/io.h>
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+#include <pcl/io/pcd_io.h>
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+#include <QCoreApplication>
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+
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+#include "object.pb.h"
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+#include "objectarray.pb.h"
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+
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+#include <thread>
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+#include <chrono>
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+
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+
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+#include "modulecomm.h"
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+#include "cluster.h"
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+
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+#include <getopt.h>
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+#include <string>
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+#include <eigen3/Eigen/Eigen>
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+using namespace Eigen;
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+using namespace std;
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+
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+char gstr_memname[256];
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+
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+
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+void print_useage()
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+{
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+ std::cout<<" -m --memname $mappath : share memory name. eq. -m lidar_pc"<<std::endl;
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+
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+ std::cout<<" -h --help print help"<<std::endl;
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+}
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+
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+std::vector<Obj> Objresult;
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+
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+void Listenlidarcnndectect(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
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+{
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+
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+// std::vector<iv::lidar::object> lidarobjvec;
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+// strtolidarobj(lidarobjvec,strdata,nSize);
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+
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+ iv::lidar::objectarray lidarobjvec;
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+ std::string in;
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+ in.append(strdata,nSize);
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+ lidarobjvec.ParseFromString(in);
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+
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+ std::cout<<"lidar obj num: "<<lidarobjvec.obj_size()<<std::endl;
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+ Obj result;
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+ Objresult.clear();
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+ for(int i=0; i<lidarobjvec.obj_size();i++){
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+ iv::lidar::lidarobject lidarobj = lidarobjvec.obj(i);
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+ result.center_x = lidarobj.position().x();
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+ result.center_y = lidarobj.position().y();
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+ result.center_z = lidarobj.position().z();
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+ result.l= lidarobj.dimensions().x();
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+ result.w = lidarobj.dimensions().y();
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+ result.h = lidarobj.dimensions().z();
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+ result.yaw = lidarobj.tyaw();
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+ result.type_id = lidarobj.mntype();
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+ Eigen::AngleAxisf rotation_vector(lidarobj.tyaw(), Eigen::Vector3f::UnitZ());
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+ result.Quaternion = Eigen::Quaternionf(rotation_vector);
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+ Objresult.push_back(result);
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+ }
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+}
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+
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+
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+int GetOptLong(int argc, char *argv[]) {
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+ int nRtn = 0;
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+ int opt; // getopt_long() 的返回值
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+ int digit_optind = 0; // 设置短参数类型及是否需要参数
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+
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+ // 如果option_index非空，它指向的变量将记录当前找到参数符合long_opts里的
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+ // 第几个元素的描述，即是long_opts的下标值
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+ int option_index = 0;
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+ // 设置短参数类型及是否需要参数
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+ const char *optstring = "m:h";
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+
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+ // 设置长参数类型及其简写，比如 --reqarg <==>-r
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+ /*
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+ struct option {
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+ const char * name; // 参数的名称
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+ int has_arg; // 是否带参数值，有三种：no_argument， required_argument，optional_argument
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+ int * flag; // 为空时，函数直接将 val 的数值从getopt_long的返回值返回出去，
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+ // 当非空时，val的值会被赋到 flag 指向的整型数中，而函数返回值为0
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+ int val; // 用于指定函数找到该选项时的返回值，或者当flag非空时指定flag指向的数据的值
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+ };
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+ 其中：
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+ no_argument(即0)，表明这个长参数不带参数（即不带数值，如：--name）
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+ required_argument(即1)，表明这个长参数必须带参数（即必须带数值，如：--name Bob）
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+ optional_argument(即2)，表明这个长参数后面带的参数是可选的，（即--name和--name Bob均可）
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+ */
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+ static struct option long_options[] = {
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+ {"memname", required_argument, NULL, 'm'},
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+ {"help", no_argument, NULL, 'h'},
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+ // {"optarg", optional_argument, NULL, 'o'},
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+ {0, 0, 0, 0} // 添加 {0, 0, 0, 0} 是为了防止输入空值
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+ };
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+
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+ while ( (opt = getopt_long(argc,
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+ argv,
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+ optstring,
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+ long_options,
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+ &option_index)) != -1) {
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+// printf("opt = %c\n", opt); // 命令参数，亦即 -a -b -n -r
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+// printf("optarg = %s\n", optarg); // 参数内容
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+// printf("optind = %d\n", optind); // 下一个被处理的下标值
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+// printf("argv[optind - 1] = %s\n", argv[optind - 1]); // 参数内容
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+// printf("option_index = %d\n", option_index); // 当前打印参数的下标值
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+// printf("\n");
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+ switch(opt)
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+ {
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+ case 'm':
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+ strncpy(gstr_memname,optarg,255);
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+ break;
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+ case 'h':
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+ print_useage();
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+ nRtn = 1; //because use -h
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+ break;
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+ default:
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+ break;
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+ }
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+
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+ }
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+
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+ return nRtn;
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+}
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+
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+
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+pcl::visualization::CloudViewer viewer("Cloud Viewer");//创建viewer对象
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+
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+int user_data;
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+
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+void ListenPointCloud(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
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+{
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+ if(nSize <=16)return;
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+ unsigned int * pHeadSize = (unsigned int *)strdata;
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+ if(*pHeadSize > nSize)
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+ {
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+ std::cout<<"ListenPointCloud data is small headsize ="<<*pHeadSize<<" data size is"<<nSize<<std::endl;
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+ }
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+
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+ pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
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+ new pcl::PointCloud<pcl::PointXYZI>());
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+ int nNameSize;
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+ nNameSize = *pHeadSize - 4-4-8;
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+ char * strName = new char[nNameSize+1];strName[nNameSize] = 0;
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+ memcpy(strName,(char *)((char *)strdata +4),nNameSize);
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+ point_cloud->header.frame_id = strName;
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+ memcpy(&point_cloud->header.seq,(char *)strdata+4+nNameSize,4);
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+ memcpy(&point_cloud->header.stamp,(char *)strdata+4+nNameSize+4,8);
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+ int nPCount = (nSize - *pHeadSize)/sizeof(pcl::PointXYZI);
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+ int i;
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+ pcl::PointXYZI * p;
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+ p = (pcl::PointXYZI *)((char *)strdata + *pHeadSize);
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+ for(i=0;i<nPCount;i++)
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+ {
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+ pcl::PointXYZI xp;
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+ xp.x = p->x;
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+ xp.y = p->y;
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+ xp.z = p->z;
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+ xp.intensity = p->intensity;
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+ point_cloud->push_back(xp);
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+ p++;
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+
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+ }
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+
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+ user_data++;
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+ viewer.showCloud(point_cloud);
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+
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+}
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+
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+
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+void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
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+{
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+
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+ viewer.setBackgroundColor(0.0,0.0,0.0);
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+
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+}
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+
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+
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+
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+void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
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+{
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+ static unsigned count = 0;
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+ std::stringstream ss;
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+
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+ ss << "Point Cloud Count: " << user_data;
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+ viewer.removeShape ("text", 0);
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+ viewer.addText (ss.str(), 200, 300, "text", 0);
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+
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+ viewer.removeAllShapes();
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+ viewer.addCube(-0.9,0.9,-2.3,2.3,-1.9,-0.4,0.0,0.0,1.0,"car",0);
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+
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+ for(int i=0;i<Objresult.size();i++){
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+
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+ Eigen::Vector3f center(Objresult[i].center_x,Objresult[i].center_y,Objresult[i].center_z);
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+ viewer.addCube(center,Objresult[i].Quaternion,Objresult[i].l,Objresult[i].w,Objresult[i].h,std::to_string(i),0);
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+ viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION,pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, std::to_string(i),0);
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+ if(Objresult[i].type_id == 0)
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+ viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,1.0,0.0,0.0,std::to_string(i));
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+ else if (Objresult[i].type_id == 4)
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+ viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,0.0,1.0,0.0,std::to_string(i));
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+ else if (Objresult[i].type_id == 5)
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+ viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,0.0,0.0,1.0,std::to_string(i));
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+ else if (Objresult[i].type_id == 6)
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+ viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,0.0,1.0,1.0,std::to_string(i));
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+ else
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+ viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,1.0,0.0,1.0,std::to_string(i));
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+
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+
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+ }
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+}
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+
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+
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+
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+int main(int argc, char *argv[])
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+{
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+ QCoreApplication a(argc, argv);
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+
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+ snprintf(gstr_memname,255,"lidar_pc");
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+
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+ int nRtn = GetOptLong(argc,argv);
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+ if(nRtn == 1) //show help,so exit.
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+ {
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+ return 0;
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+ }
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+
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+
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+ //This will only get called once
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+ viewer.runOnVisualizationThreadOnce (viewerOneOff);
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+
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+ //This will get called once per visualization iteration
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+ viewer.runOnVisualizationThread (viewerPsycho);
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+
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+ //std::string gstrinput = "lidar_pointpillar";
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+ std::string gstrinput = "lidar_track";
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+ void * pa = iv::modulecomm::RegisterRecv(gstr_memname,ListenPointCloud);
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+ void * gpadetect = iv::modulecomm::RegisterRecv(gstrinput.data(),Listenlidarcnndectect);
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+
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+ while(!viewer.wasStopped())
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+ {
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+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
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+ }
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+ return 0;
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+
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+
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+ return a.exec();
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+
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+}
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+
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liyupeng