change it to ad10

src/tool/view_pointcloud_obj/cluster.h

@@ -0,0 +1,19 @@
+#ifndef CLUSTER_H
+#define CLUSTER_H
+#include <eigen3/Eigen/Eigen>
+#include <string>
+#endif // CLUSTER_H
+using namespace Eigen;
+using namespace std;
+
+struct Obj{
+    float center_x;
+    float center_y;
+    float center_z;
+    float l;
+    float w;
+    float h;
+    float yaw;
+    int type_id;
+    Quaternionf Quaternion;
+};

src/tool/view_pointcloud_obj/main.cpp

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

src/tool/view_pointcloud_obj/view_pointcloud_obj.pro

@@ -0,0 +1,84 @@
+QT -= gui
+
+CONFIG += c++14 #console
+CONFIG -= app_bundle
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which as been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+#QMAKE_LFLAGS += -no-pie
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += main.cpp \
+    ../../include/msgtype/object.pb.cc \
+    ../../include/msgtype/objectarray.pb.cc
+
+HEADERS += \
+    cluster.h \
+    ../../include/msgtype/object.pb.h \
+    ../../include/msgtype/objectarray.pb.h
+
+INCLUDEPATH += /opt/ros/kinetic/include
+INCLUDEPATH += /usr/include/pcl-1.8
+INCLUDEPATH += /usr/include/eigen3
+INCLUDEPATH += /usr/include/vtk-6.3
+INCLUDEPATH += $$PWD/../../include/msgtype
+
+INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /usr/include/vtk-7.1
+
+
+
+unix:LIBS +=  -lpcl_common\
+        -lpcl_features\
+        -lpcl_filters\
+        -lpcl_io\
+        -lpcl_io_ply\
+        -lpcl_kdtree\
+        -lpcl_keypoints\
+        -lpcl_octree\
+        -lpcl_outofcore\
+        -lpcl_people\
+        -lpcl_recognition\
+        -lpcl_registration\
+        -lpcl_sample_consensus\
+        -lpcl_search\
+        -lpcl_segmentation\
+        -lpcl_surface\
+        -lpcl_tracking\
+        -lpcl_visualization
+
+INCLUDEPATH += $$PWD/../../../include/
+LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault
+
+
+LIBS += -lboost_system -lvtkCommonExecutionModel-7.1 -lvtkCommonCore-7.1 -lvtkRenderingLOD-7.1 -lvtkRenderingCore-7.1 \
+        -lvtkFiltersSources-7.1
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+!include(../../../include/ivboost.pri ) {
+    error( "Couldn't find the ivboost.pri file!" )
+}
+
+!include(../../../include/ivyaml-cpp.pri ) {
+    error( "Couldn't find the ivyaml-cpp.pri file!" )
+}
+
+!include(../../../include/ivpcl.pri ) {
+    error( "Couldn't find the ivpcl.pri file!" )
+}
+