change pointcloudviewer_open3d. not complete.

src/tool/pointcloudviewer_open3d/main.cpp

@@ -14,6 +14,15 @@
 
 #include <QFile>
 
+#include "modulecomm.h"
+#include "ivversion.h"
+#include "xmlparam.h"
+
+char gstr_memname[256];
+
+std::shared_ptr<open3d::geometry::PointCloud> gcloud_ptr = nullptr;
+open3d::visualization::VisualizerWithKeyCallback gvis;
+
 bool readpcd(std::string strpcdpath,open3d::t::geometry::PointCloud &cloud)
 {
     open3d::core::Dtype dtype_f{open3d::core::Dtype::Float32};
@@ -66,18 +75,19 @@ void test()
         float *d_points = nullptr;
         int num_points = cloud_ptr->ToLegacy().points_.size();
         float *tmp = (float *)concat.GetDataPtr();
-        open3d::visualization::VisualizerWithKeyCallback vis;
-        vis.CreateVisualizerWindow("Point Cloud Viewer", 1600, 900);
-        vis.GetRenderOption().background_color_ = {0.0, 0.0, 0.0};
-        vis.GetRenderOption().point_color_option_ =
-            open3d::visualization::RenderOption::PointColorOption::Color;
-        vis.GetRenderOption().point_size_ = 1.0;
-        vis.AddGeometry(std::make_shared<open3d::geometry::PointCloud>(
+//        open3d::visualization::VisualizerWithKeyCallback vis;
+//        vis.CreateVisualizerWindow("Point Cloud Viewer", 1600, 900);
+//        vis.GetRenderOption().background_color_ = {0.0, 0.0, 0.0};
+//        vis.GetRenderOption().point_color_option_ =
+//            open3d::visualization::RenderOption::PointColorOption::Color;
+//        vis.GetRenderOption().point_size_ = 1.0;
+        gvis.AddGeometry(std::make_shared<open3d::geometry::PointCloud>(
             cloud_ptr->ToLegacy().PaintUniformColor({1.0, 1.0, 1.0})));
 
 
-        vis.Run();
-        vis.DestroyVisualizerWindow();
+
+ //       gvis.Run();
+ //       gvis.DestroyVisualizerWindow();
     }
 }
 
@@ -89,17 +99,131 @@ void threadvis()
 }
 
 
+void ListenPointCloud(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)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;
+    }
+
+    open3d::core::Dtype dtype_f{open3d::core::Dtype::Float32};
+    open3d::core::Device device_type{open3d::core::Device::DeviceType::CPU, 0};
+    std::vector<float> intensities_buffer;
+    std::vector<Eigen::Vector3d> points_buffer;
+    open3d::t::geometry::PointCloud cloud;
+
+    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;
+    point_cloud->height = 1;
+    point_cloud->width = 0;
+    pcl::PointXYZI * p;
+    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()/1000000 <<"ms size : "<<nPCount<<std::endl;
+    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;
+
+        float x,y,z,intens;
+        x = p->x;
+        y = p->y;
+        z = p->z;
+        intens = p->intensity;
+        points_buffer.push_back(Eigen::Vector3d(x, y, z));
+        intensities_buffer.push_back(intens);
+
+        if(xp.intensity>10)
+        {
+        point_cloud->push_back(xp);
+
+        ++point_cloud->width;
+        }
+         p++;
+
+  //      std::cout<<" x is "<<xp.x<<" y is "<<xp.y<<std::endl;
+    }
+
+    if(gcloud_ptr != nullptr)
+    {
+//        gvis.RemoveGeometry(gcloud_ptr);
+    }
+
+    std::vector<float> times_buffer(points_buffer.size(), 0.0f);
+    open3d::core::Tensor positions =
+        open3d::core::eigen_converter::EigenVector3dVectorToTensor(
+            points_buffer, dtype_f, device_type);
+    cloud.SetPointPositions(positions);
+    auto intensity = open3d::core::Tensor(
+        intensities_buffer, {1, static_cast<int>(intensities_buffer.size())},
+        open3d::core::Dtype::Float32);
+    auto time = open3d::core::Tensor(times_buffer,
+                                     {1, static_cast<int>(times_buffer.size())},
+                                     open3d::core::Dtype::Float32);
+    cloud.SetPointAttr("intensity", intensity);
+    cloud.SetPointAttr("time", time);
+    gcloud_ptr = std::make_shared<open3d::geometry::PointCloud>(
+                cloud.ToLegacy().PaintUniformColor({1.0, 1.0, 1.0}));
+    gvis.AddGeometry(gcloud_ptr);
+
+
+
+ //   return;
+
+
+ //   gw->UpdatePointCloud(point_cloud);
+ //   DBSCAN_PC(point_cloud);
+
+
+}
+
+
+
+
 int main(int argc, char *argv[])
 {
     QCoreApplication a(argc, argv);
 
-    std::thread * pt = new std::thread(&threadvis);
+    snprintf(gstr_memname,255,"lidar_pc");
+
+    void * pa = iv::modulecomm::RegisterRecv(gstr_memname,ListenPointCloud);
+
+    gvis.CreateVisualizerWindow("Point Cloud Viewer", 1600, 900);
+    gvis.GetRenderOption().background_color_ = {0.0, 0.0, 0.0};
+    gvis.GetRenderOption().point_color_option_ =
+        open3d::visualization::RenderOption::PointColorOption::Color;
+    gvis.GetRenderOption().point_size_ = 1.0;
+
+//    std::thread * pt = new std::thread(&threadvis);
+
+    gvis.Run();
+    gvis.DestroyVisualizerWindow();
+
+    return 0;
 
     while(1)
     {
         std::this_thread::sleep_for(std::chrono::seconds(1));
         std::cout<<"main."<<std::endl;
     }
+
+
 //    test();
     return a.exec();
 }

src/tool/pointcloudviewer_open3d/pointcloudviewer_open3d.pro

@@ -17,6 +17,10 @@ else: unix:!android: target.path = /opt/$${TARGET}/bin
 
 INCLUDEPATH += /usr/include/eigen3
 
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
 !include(../../../include/ivpcl.pri ) {
     error( "Couldn't find the ivpcl.pri file!" )
 }