add pointcloudviewer2. for use vtk in mainwindow show pointcloud.

src/tool/pointcloudviewer/mainwindow.cpp

@@ -0,0 +1,195 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <iostream>
+
+#include <QFileDialog>
+
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent)
+    , ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();
+    vtkSmartPointer<vtkGenericOpenGLRenderWindow> renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
+    renderWindow->AddRenderer(renderer);
+    view.reset(new pcl::visualization::PCLVisualizer(renderer,renderWindow,"viewer",false));
+
+
+
+#if VTK890
+    view->setupInteractor(ui->vtk->interactor(),ui->vtk->renderWindow());
+#else
+    view->setupInteractor(ui->vtk->GetInteractor(),ui->vtk->GetRenderWindow());
+#endif
+
+#if VTK890
+  this->ui->vtk->setRenderWindow(renderWindow);
+#else
+  this->ui->vtk->SetRenderWindow(renderWindow);
+#endif
+
+    ModuleFun xFun = std::bind(&MainWindow::ListenPointCloud,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    mpa = iv::modulecomm::RegisterRecvPlus("lidar_pc",xFun);
+
+    connect(this,SIGNAL(pointcloudupdate()),SLOT(onpointcloudupdate()));
+
+    setWindowTitle("PointCloud Viewer");
+
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}
+
+void MainWindow::resizeEvent(QResizeEvent *event)
+{
+    (void)event;
+    QSize sizemain = ui->centralwidget->size();
+
+    ui->vtk->setGeometry(0,0,sizemain.width()-0,sizemain.height()-0);
+
+}
+
+//void MainWindow::on_actionLoad_triggered()
+//{
+//    //读取pcd文件并显示
+//    pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>());//创建点云指针
+//    QString fileName = QFileDialog::getOpenFileName(this, "Open PointCloud", ".", "Open PCD files(*.pcd)");
+//    if(fileName == "") return;
+//    pcl::io::loadPCDFile(fileName.toStdString(),*cloud);
+//    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> fildColor(cloud, "intensity"); // 按照y字段进行渲染
+//    view->removePointCloud("cloud");
+//    view->addPointCloud<pcl::PointXYZI>(cloud,fildColor,"cloud");
+
+//    view->setCameraPosition(0,0,100,0,0,0,0,1,0);
+//    view->resetCamera();    //视角
+//    ui->vtk->update();
+//#if VTK890
+//    ui->vtk->renderWindow()->Render();
+//#else
+//    ui->vtk->GetRenderWindow()->Render();
+//#endif
+//}
+
+
+void MainWindow::on_actionSave_triggered()
+{
+
+}
+
+void MainWindow::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;
+    }
+
+    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 <<" 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;
+        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;
+    }
+
+    mmutex.lock();
+    mpoint_cloud = point_cloud;
+    mbpcupdate = true;
+    mmutex.unlock();
+
+    emit pointcloudupdate();
+}
+
+void MainWindow::onpointcloudupdate()
+{
+    static bool bFirst = true;
+    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
+                new pcl::PointCloud<pcl::PointXYZI>());
+
+    if(mbpcupdate == false)return;
+
+    mmutex.lock();
+    point_cloud = mpoint_cloud;
+    mbpcupdate = false;
+    mmutex.unlock();
+
+    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> fildColor(point_cloud, "intensity"); // 按照y字段进行渲染
+    view->removePointCloud("cloud");
+    view->addPointCloud<pcl::PointXYZI>(point_cloud,fildColor,"cloud");
+
+    if(bFirst)
+    {
+        view->setCameraPosition(0,0,100,0,0,0,0,1,0);
+        bFirst = false;
+        view->resetCamera();    //视角
+    }
+
+//    ui->vtk->update();
+#if VTK890
+    ui->vtk->renderWindow()->Render();
+#else
+    ui->vtk->GetRenderWindow()->Render();
+#endif
+}
+
+
+void MainWindow::on_actionFull_triggered()
+{
+    showFullScreen();
+    ui->menubar->setVisible(false);
+    ui->statusbar->setVisible(false);
+    ui->toolBar->setVisible(false);
+    mbFull = true;
+}
+
+
+void MainWindow::keyReleaseEvent(QKeyEvent *event)
+{
+    if((event->key() == Qt::Key_Escape)||(event->key() == Qt::Key_F11))
+    {
+        if(mbFull)
+        {
+            showNormal();
+            ui->menubar->setVisible(true);
+            ui->statusbar->setVisible(true);
+            ui->toolBar->setVisible(true);
+            mbFull = false;
+        }
+    }
+}
+

src/tool/pointcloudviewer/mainwindow.h

@@ -0,0 +1,82 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+
+
+
+#include <vtkActor.h>
+#include <vtkGenericOpenGLRenderWindow.h>
+#include <vtkLookupTable.h>
+#include <vtkNamedColors.h>
+#include <vtkNew.h>
+#include <vtkPlatonicSolidSource.h>
+#include <vtkPolyDataMapper.h>
+#include <vtkProperty.h>
+#include <vtkRenderWindow.h>
+#include <vtkRenderer.h>
+#include <vtkVersion.h>
+
+
+#include <QSurfaceFormat>
+#include <QVTKOpenGLNativeWidget.h>
+
+
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/point_types.h>//各种格式的点的头文件
+#include <pcl/io/pcd_io.h>
+
+#include "modulecomm.h"
+#include <mutex>
+#include  <QKeyEvent>
+
+#if VTK_VERSION_NUMBER >= 89000000000ULL
+#define VTK890 1
+#endif
+
+
+QT_BEGIN_NAMESPACE
+namespace Ui {
+class MainWindow;
+}
+QT_END_NAMESPACE
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+public:
+     void resizeEvent(QResizeEvent *event);
+     void keyReleaseEvent(QKeyEvent *event) Q_DECL_OVERRIDE;
+
+signals:
+     void pointcloudupdate();
+
+private slots:
+
+    void on_actionSave_triggered();
+
+    void onpointcloudupdate();
+
+    void on_actionFull_triggered();
+
+private:
+    Ui::MainWindow *ui;
+
+    boost::shared_ptr< pcl::visualization::PCLVisualizer > view;
+
+private:
+    void ListenPointCloud(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
+    void * mpa;
+
+    std::mutex mmutex;
+    pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud;
+    bool mbpcupdate = false;
+    bool mbFull = false;
+
+};
+#endif // MAINWINDOW_H

src/tool/pointcloudviewer/mainwindow.ui

@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QVTKOpenGLNativeWidget" name="vtk">
+    <property name="geometry">
+     <rect>
+      <x>40</x>
+      <y>30</y>
+      <width>531</width>
+      <height>391</height>
+     </rect>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuFile">
+    <property name="title">
+     <string>File</string>
+    </property>
+    <addaction name="actionSave"/>
+   </widget>
+   <widget class="QMenu" name="menuView">
+    <property name="title">
+     <string>View</string>
+    </property>
+    <addaction name="actionFull"/>
+   </widget>
+   <addaction name="menuFile"/>
+   <addaction name="menuView"/>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+  <widget class="QToolBar" name="toolBar">
+   <property name="windowTitle">
+    <string>toolBar</string>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+   <addaction name="actionSave"/>
+   <addaction name="separator"/>
+   <addaction name="actionFull"/>
+  </widget>
+  <action name="actionSave">
+   <property name="text">
+    <string>Save</string>
+   </property>
+  </action>
+  <action name="actionFull">
+   <property name="text">
+    <string>Full </string>
+   </property>
+  </action>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QVTKOpenGLNativeWidget</class>
+   <extends>QOpenGLWidget</extends>
+   <header location="global">QVTKOpenGLNativeWidget.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>

src/tool/pointcloudviewer/pointcloudviewer2.pro

@@ -0,0 +1,73 @@
+QT       += core gui
+
+#QT       += openglwidgets
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = pointcloudviewer
+
+CONFIG += c++17
+
+# You can make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    viewmain.cpp \
+    mainwindow.cpp
+
+HEADERS += \
+    mainwindow.h
+
+FORMS += \
+    mainwindow.ui
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+INCLUDEPATH += /usr/include/eigen3
+INCLUDEPATH += /usr/include/pcl-1.12
+INCLUDEPATH += /usr/include/vtk-9.1
+INCLUDEPATH += /usr/include/vtk-6.3
+INCLUDEPATH += /usr/include/vtk-7.1
+INCLUDEPATH += /usr/include/pcl-1.8
+INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /usr/include/pcl-1.7
+
+
+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
+
+LIBS += /usr/lib/aarch64-linux-gnu/libvtk*.so
+
+INCLUDEPATH += $$PWD/../../../include/
+LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault
+
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+LIBS += -lboost_system
+
+#LIBS += -lvtkCommonExecutionModel-9.1 -lvtkCommonCore-9.1 -lvtkRenderingLOD-9.1 -lvtkRenderingCore-9.1 \
+#       -lvtkFiltersSources-9.1 -lvtkCommonColor-9.1  -lvtkGUISupportQt-9.1  -lvtkInteractionStyle-9.1   -lvtkRenderingContextOpenGL2-9.1   -lvtkRenderingFreeType-9.1   \
+#       -lvtkRenderingOpenGL2-9.1

src/tool/pointcloudviewer/viewmain.cpp

@@ -0,0 +1,14 @@
+#include <QApplication>
+
+#include "mainwindow.h"
+
+
+
+int main(int argc, char *argv[])
+{
+    QSurfaceFormat::setDefaultFormat(QVTKOpenGLNativeWidget::defaultFormat());
+    QApplication a(argc, argv); 
+    MainWindow w ;
+    w.show();
+    return a.exec();
+}

src/tool/view_pcdmap/main.cpp

@@ -184,6 +184,7 @@ int main(int argc, char *argv[])
     //This will only get called once
     viewer1.runOnVisualizationThreadOnce (viewerOneOff);
 
+
     //This will get called once per visualization iteration
 //    viewer1.runOnVisualizationThread (viewerPsycho);
 

src/tool/view_pcdmap/view_pcdmap.pro

@@ -23,6 +23,7 @@ SOURCES += main.cpp
 INCLUDEPATH += /opt/ros/kinetic/include
 INCLUDEPATH += /usr/include/pcl-1.8
 INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /usr/include/pcl-1.12
 INCLUDEPATH += /usr/include/pcl-1.7
 INCLUDEPATH += /usr/include/eigen3
 INCLUDEPATH += /usr/include/vtk-6.3

src/tool/view_pcdmap/view_pcdmap2.pro

@@ -4,6 +4,8 @@ QT       += core gui
 
 greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
 
+TARGET = view_pcdmap
+
 CONFIG += c++17
 
 # You can make your code fail to compile if it uses deprecated APIs.