debug done

171930433 · Mar 20, 2024 · 64ddb34 · 64ddb34
1 parent 867b81e
commit 64ddb34
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Showing 2 changed files with 14 additions and 12 deletions.
diff --git a/src/example/message/zpointcloud.cpp b/src/example/message/zpointcloud.cpp
@@ -18,10 +18,12 @@ static pcl::io::OctreePointCloudCompression<pcl::PointXYZIT> s_compress;
 
 ::zhito::inner_class::ZPointCloudXYZIT StructToClass(zhito::inner_struct::sp_cZPointCloudXYZIT const& in) {
   ::zhito::inner_class::ZPointCloudXYZIT result;
-  *result.mutable_header() = StructToClass(*(std::shared_ptr<zhito::inner_struct::ZFrame const>)in);
+  std::shared_ptr<zhito::inner_struct::ZFrame const> base1 = in;
+  zhito::inner_struct::ZPointCloudXYZIT::ConstPtr base2 = in;
+  *result.mutable_header() = StructToClass(*base1);
   // 压缩点云
   std::stringstream compressed_pcl_pointcloud;
-  s_compress.encodePointCloud(in, compressed_pcl_pointcloud);
+  s_compress.encodePointCloud(base2, compressed_pcl_pointcloud);
   result.set_pcl_compressed_pc(compressed_pcl_pointcloud.str());
   // std::cout <<" compress size = " << compressed_pcl_pointcloud.str().size() <<"\n";
   return result;
@@ -30,13 +32,13 @@ ::zhito::inner_class::ZPointCloudXYZIT StructToClass(zhito::inner_struct::sp_cZP
 // ClassToStruct declaration
 zhito::inner_struct::spZPointCloudXYZIT ClassToStruct(::zhito::inner_class::ZPointCloudXYZIT const& in) {
   ::zhito::inner_struct::spZPointCloudXYZIT result = std::make_shared<zhito::inner_struct::ZPointCloudXYZIT>();
-  *(std::shared_ptr<::zhito::inner_struct::ZFrame>)result = ClassToStruct(in.header());
+  std::shared_ptr<zhito::inner_struct::ZFrame> base1 = result;
+  zhito::inner_struct::ZPointCloudXYZIT::Ptr base2 = result;
+  *base1 = 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";
+  s_compress.decodePointCloud(compressed_pcl_pointcloud, base2);
 
   return result;
 }

diff --git a/src/example/tutorial.cpp b/src/example/tutorial.cpp
@@ -19,12 +19,12 @@ void PointcloudDemo() {
     p2.x += (rand() % 10000 * 0.0001);
     pc->push_back(p2);
   }
-// std::cout<< "11111111111\n";
+std::cout<< "11111111111\n";
   inner_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
-// std::cout<< "2222222222222\n";
+std::cout<< "2222222222222\n";
 
   inner_struct::spZPointCloudXYZIT pc3 = converter::ClassToStruct(pc2);
-// std::cout<< "33333\n";
+std::cout<< "33333\n";
 
   // pcl::io::savePCDFileBinaryCompressed("1.pcd", *pc3);
 
@@ -58,9 +58,9 @@ void ImageDemo() {
 }
 
 int main() {
-  ImuDemo();
-  // PointcloudDemo();
-  ImageDemo();
+  // ImuDemo();
+  PointcloudDemo();
+  // ImageDemo();
 
   std::cout << "Done!!!" << std::endl;