delect obj1

src/tool/view_pointcloud_obj1/cluster.h

@@ -1,19 +0,0 @@
-#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;
-    string type_name;
-    Quaternionf Quaternion;
-};

src/tool/view_pointcloud_obj1/main.cpp

@@ -1,272 +0,0 @@
-#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_name = lidarobj.type_name();
-
-        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;
-
-// // read source lidar_pointcloud
-//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);
-//}
-
-// read segmentation_cnn output lidar_pointcloud
-void ListenPointCloud(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
-{
-    iv::lidar::objectarray lidarobjvec;
-    std::string in;
-    in.append(strdata,nSize);
-    lidarobjvec.ParseFromString(in);
-
-    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
-                new pcl::PointCloud<pcl::PointXYZI>());
-    for(int i=0; i<lidarobjvec.obj_size();i++){
-        iv::lidar::lidarobject lidarobj = lidarobjvec.obj(i);
-        if(lidarobj.type_name()!="car" && lidarobj.type_name()!="pedestrian")
-            continue;
-        for(int j=0;j<lidarobj.cloud_size();j++){
-//            iv::lidar::PointXYZI Point = lidarobj.cloud(j);
-            pcl::PointXYZI xp;
-            xp.x = lidarobj.cloud(j).x();
-            xp.y = lidarobj.cloud(j).y();
-            xp.z = lidarobj.cloud(j).z();
-            xp.intensity = lidarobj.cloud(j).i();
-            point_cloud->push_back(xp);
-        }
-    }
-    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);
-        std::string cube = "box"+std::to_string(i);
-        viewer.addCube(center, Objresult[i].Quaternion,Objresult[i].w,Objresult[i].h,Objresult[i].l, cube);
-        viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, cube);
-        viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, cube);
-        viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 1, cube);
-        std::string cubeFill = "boxFill"+std::to_string(i);
-        viewer.addCube(center, Objresult[i].Quaternion,Objresult[i].w,Objresult[i].h,Objresult[i].l, cubeFill);
-        viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_SURFACE, cubeFill);
-        viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, cubeFill);
-        viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.3, cubeFill);
-    }
-}
-
-
-
-int main(int argc, char *argv[])
-{
-    QCoreApplication a(argc, argv);
-    snprintf(gstr_memname,255,"lidar_pointpillar");
-
-    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_obj1/view_pointcloud_obj.pro

@@ -1,79 +0,0 @@
-QT -= gui
-
-CONFIG += c++11 #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 += $$PWD/../../include/msgtype
-
-unix:LIBS +=  -lpcl_common\
-        -lpcl_features\
-        -lpcl_filters\
-        -lpcl_io\
-        -lpcl_io_ply\
-        -lpcl_kdtree\
-        -lpcl_keypoints\
-        -lpcl_octree\
-        -lpcl_outofcore\
-        -lpcl_people\
-        -lpcl_recognition\
-        -lpcl_registration\
-        -lpcl_sample_consensus\
-        -lpcl_search\
-        -lpcl_segmentation\
-        -lpcl_surface\
-        -lpcl_tracking\
-        -lpcl_visualization
-
-INCLUDEPATH += $$PWD/../../../include/
-LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault
-
-
-LIBS += -lboost_system -lvtkCommonExecutionModel-6.3 -lvtkCommonCore-6.3 -lvtkRenderingLOD-6.3 -lvtkRenderingCore-6.3 \
-        -lvtkFiltersSources-6.3
-
-!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!" )
-}
-