测试完成，但是点云测试用例无法通过

171930433 · Mar 20, 2024 · 16209df · 16209df
1 parent 5ab4a5a
commit 16209df
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diff --git a/src/example/CMakeLists.txt b/src/example/CMakeLists.txt
@@ -21,13 +21,11 @@ file(GLOB PROTO_FILES "*.proto")
 protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS
   ${struct_pb_plugin_DIRS}/proto_to_struct.proto
   ${PROTO_FILES}
-  # IMPORT_DIRS ${CMAKE_SOURCE_DIR}
 )
 
 protobuf_generate_python(PROTO_PYTHON_SRCS
   ${struct_pb_plugin_DIRS}/proto_to_struct.proto
   ${PROTO_FILES}
-  # IMPORT_DIRS ${CMAKE_SOURCE_DIR}
 )
 
 protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS
@@ -36,21 +34,18 @@ OPTION "namespace=zhito.inner_struct,converter_namespace=zhito.converter"
 # PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-add_executable(struct_pb_tutorial tutorial.cpp 
+
+add_library(proto_common OBJECT
   ${PROTO_SRCS}
   ${PROTO_HDRS}
   ${PROTO_STRUCT_SRCS}
   ${PROTO_STRUCT_HDRS}
   ${PROTO_PYTHON_SRCS}
 )
 
-target_link_libraries(struct_pb_tutorial protobuf::libprotobuf 
-  pcl_common pcl_io # pcl
-  opencv_imgcodecs opencv_core  # opencv
-  $ENV{proto_message}
-)
+target_link_libraries(proto_common protobuf::libprotobuf )
 
-target_include_directories(struct_pb_tutorial PUBLIC 
+target_include_directories(proto_common PUBLIC 
   ${CMAKE_BINARY_DIR}
   ${CMAKE_CURRENT_BINARY_DIR}
   ${CMAKE_CURRENT_LIST_DIR}
@@ -59,4 +54,18 @@ target_include_directories(struct_pb_tutorial PUBLIC
   ${CMAKE_BINARY_DIR}/src/protoc-plugin
 )
 
+
+add_executable(struct_pb_tutorial tutorial.cpp )
+
+target_link_libraries(struct_pb_tutorial 
+  proto_common
+  $ENV{proto_message}
+)
+
+target_include_directories(struct_pb_tutorial PUBLIC 
+  ${CMAKE_BINARY_DIR}
+  ${CMAKE_SOURCE_DIR}
+)
+
+
 add_subdirectory(message)
diff --git a/src/example/message/zpointcloud.cpp b/src/example/message/zpointcloud.cpp
@@ -33,8 +33,10 @@ zhito::inner_struct::spZPointCloudXYZIT ClassToStruct(::zhito::inner_class::ZPoi
   *(std::shared_ptr<::zhito::inner_struct::ZFrame>)result = ClassToStruct(in.header());
   // 解压点云
   std::stringstream compressed_pcl_pointcloud(in.pcl_compressed_pc());
+  // std::cout <<" compressed_pcl_pointcloud size = " << compressed_pcl_pointcloud.str().size() << "\n";
   // decodePointCloud 的参数定义成了智能指针的引用, 所以不能存在转换. 只有是 const T& 和 std::shared_ptr<T>, 可以使用多态,即直接使用子类对象或者子类智能指针
   s_compress.decodePointCloud(compressed_pcl_pointcloud, (pcl::PointCloud<pcl::PointXYZIT>::Ptr&)result);
+  // std::cout <<" compressed_pcl_pointcloud size = " << compressed_pcl_pointcloud.str().size() << " done \n";
 
   return result;
 }

diff --git a/src/example/tutorial.cpp b/src/example/tutorial.cpp
@@ -5,28 +5,31 @@
 
 // #include "addressbook.struct_pb.h"
 #include "src/example/message/imu.struct_pb.h"
-// #include "src/message/zimage.hpp"
-// #include "src/message/zpointcloud.hpp"
+#include "src/example/message/zimage.hpp"
+#include "src/example/message/zpointcloud.hpp"
 
-// void PointcloudDemo() {
-//   using namespace zhito;
-//   pcl::PointXYZIT p2{1, 2};
+void PointcloudDemo() {
+  using namespace zhito;
+  pcl::PointXYZIT p2{1, 2};
 
-//   inner_struct::spZPointCloudXYZIT pc = std::make_shared<inner_struct::ZPointCloudXYZIT>();
-//   *(std::shared_ptr<inner_struct::ZFrame>)pc =
-//       inner_struct::ZFrame{1, 2, 3, inner_struct::ZFrameType::PointCloud, "/zhito/pointcloud"};
-//   for (int i = 0; i < 1e5; ++i) {
-//     p2.x += (rand() % 10000 * 0.0001);
-//     pc->push_back(p2);
-//   }
+  inner_struct::spZPointCloudXYZIT pc = std::make_shared<inner_struct::ZPointCloudXYZIT>();
+  *(std::shared_ptr<inner_struct::ZFrame>)pc =
+      inner_struct::ZFrame{1, 2, 3, inner_struct::ZFrameType::PointCloud, "/zhito/pointcloud"};
+  for (int i = 0; i < 1e5; ++i) {
+    p2.x += (rand() % 10000 * 0.0001);
+    pc->push_back(p2);
+  }
+// std::cout<< "11111111111\n";
+  inner_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
+// std::cout<< "2222222222222\n";
 
-//   inner_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
-//   inner_struct::spZPointCloudXYZIT pc3 = converter::ClassToStruct(pc2);
+  inner_struct::spZPointCloudXYZIT pc3 = converter::ClassToStruct(pc2);
+// std::cout<< "33333\n";
 
-//   // pcl::io::savePCDFileBinaryCompressed("1.pcd", *pc3);
+  // pcl::io::savePCDFileBinaryCompressed("1.pcd", *pc3);
 
-//   std::cout << *pc3 << std::endl;
-// }
+  std::cout << *pc3 << std::endl;
+}
 
 void ImuDemo() {
   using namespace zhito;
@@ -40,24 +43,24 @@ void ImuDemo() {
   std::cout << imu3 << std::endl;
 }
 
-// void ImageDemo() {
-//   using namespace zhito;
+void ImageDemo() {
+  using namespace zhito;
 
-//   inner_struct::ZImage image1{1, 2, 3, inner_struct::ZFrameType::CvImage, "/zhito/image"};
-//   (cv::Mat&)image1 = cv::Mat::eye(4, 4, CV_64F);
+  inner_struct::ZImage image1{1, 2, 3, inner_struct::ZFrameType::CvImage, "/zhito/image"};
+  (cv::Mat&)image1 = cv::Mat::eye(4, 4, CV_64F);
 
-//   inner_class::ZImage image2 = converter::StructToClass(image1);
-//   inner_struct::ZImage image3 = converter::ClassToStruct(image2);
+  inner_class::ZImage image2 = converter::StructToClass(image1);
+  inner_struct::ZImage image3 = converter::ClassToStruct(image2);
 
-//   std::cout << image1 << std::endl;
-//   std::cout << image2.ShortDebugString() << std::endl;
-//   std::cout << image3 << std::endl;
-// }
+  std::cout << image1 << std::endl;
+  std::cout << image2.ShortDebugString() << std::endl;
+  std::cout << image3 << std::endl;
+}
 
 int main() {
   ImuDemo();
   // PointcloudDemo();
-  // ImageDemo();
+  ImageDemo();
 
   std::cout << "Done!!!" << std::endl;
 

diff --git a/src/protoc-plugin/cmake/struct_pb.cmake b/src/protoc-plugin/cmake/struct_pb.cmake
@@ -119,7 +119,7 @@ function(protobuf_generate_modified)
 
 
         # message(status _out!!!!!!!!${protobuf_generate_LANGUAGE}_out})
-        message(status _opt!!!!!!!!${_opt}${protobuf_generate_PROTOC_OUT_DIR})
+        # message(status _opt!!!!!!!!${_opt}${protobuf_generate_PROTOC_OUT_DIR})
 
 
         add_custom_command(