添加点云demo

.clang-format

@@ -7,6 +7,7 @@ BraceWrapping:
   BeforeElse: true
 AllowShortLambdasOnASingleLine: None
 AllowShortIfStatementsOnASingleLine: Never
+ColumnLimit: 120
 ---
 Language: JavaScript
 DisableFormat: true

src/struct_pb/protoc-plugin/example/CMakeLists.txt

@@ -24,9 +24,9 @@ if (Protobuf_FOUND)
     state.proto
     chasis.proto
     perception.proto
-    # pointcloud.proto
+    pointcloud.proto
     )
-    add_executable(struct_pb_tutorial tutorial.cpp           
+    add_executable(struct_pb_tutorial tutorial.cpp zpointcloud.cpp          
       ${PROTO_SRCS}
       ${PROTO_HDRS})
       target_link_libraries(struct_pb_tutorial protobuf::libprotobuf pcl_common pcl_io pcl_octree)

src/struct_pb/protoc-plugin/example/pointcloud.proto

@@ -4,31 +4,11 @@ package inner_class;
 import "base.proto";
 import "proto_to_struct.proto";
 
-option(write_pcl_helper) = true;
 
-message PointXYZI
-{
-    option(pcl_typename) = "pcl::PointXYZI";
-    repeated float data = 3 [(fix_size) = 4];        // data[0-2] x y z
-    repeated float data_c = 4 [(fix_size) = 4];      // data_c[0] intensity
-}
-
-message PclCloudXYZI
-{
-    option(pcl_typename) = "pcl::PointCloud<pcl::PointXYZI>";
-
-    repeated PointXYZI points = 1;
-    uint32 width = 2;
-    uint32 height = 3;
-    bool is_dense = 4;
-    Vector4f sensor_origin_ = 5;
-    Quaternionf sensor_orientation_ = 6;
-}
 
-message ZPointCloudXYZI
+message ZPointCloudXYZIT
 {
-    ZFrame header = 1 [(inherits_from) = true];
-    // PclCloudXYZI point_cloud = 2 [(inherits_from) = true];
-    bytes points = 2;
+    ZFrame header = 1 ;
+    bytes pcl_compressed_pc = 2;    // pcl的压缩点云
 }
 

src/struct_pb/protoc-plugin/example/tutorial.cpp

@@ -5,71 +5,46 @@
 
 // #include "addressbook.struct_pb.h"
 #include "imu.struct_pb.h"
+#include "zpointcloud.hpp"
 
-#include "xyzit_points.hpp"
-#include <pcl/point_cloud.h>
 
-#include <pcl/io/pcd_io.h>
+void PointcloudDemo()
+{
+   pcl::PointXYZIT p2 {1,2};
 
-// #include <pcl/compression/organized_pointcloud_compression.h>
-// #include <pcl/io/impl/organized_pointcloud_compression.hpp>
+  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);
+  }
 
-#include <pcl/compression/octree_pointcloud_compression.h>
-#include <pcl/io/impl/octree_pointcloud_compression.hpp>
+  inner_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
+  inner_struct::spZPointCloudXYZIT pc3 = converter::ClassToStruct(pc2);
 
-#include <pcl/octree/octree_pointcloud.h>
-#include <pcl/octree/impl/octree_pointcloud.hpp>
+  // pcl::io::savePCDFileBinaryCompressed("1.pcd", *pc3);
 
+  std::cout << *pc3 << std::endl;
+}
 
-
-
-int main() {
-
+void ImuDemo()
+{
   inner_struct::ZImu imu1{1,2,3,inner_struct::ZFrameType::IMU,"channel_name", {4,5,6}, {7,8,9}, 10};
   inner_class::ZImu imu2 = converter::StructToClass(imu1);
   inner_struct::ZImu imu3 = converter::ClassToStruct(imu2);
 
 
-  // std::cout << imu1 << std::endl;
-  // std::cout << imu2.ShortDebugString() << std::endl;
-  // std::cout << imu3 << std::endl;
-
-
-  // inner_struct::ZPointCloudXYZI pc1;
-  // pc1.points.push_back(pcl::PointXYZI());
-  // pc1.points.push_back(pcl::PointXYZI());
-  // pcl::PointXYZI p1;
-  // pcl::PointXYZI p1 {1};
-  // std::cout << p1 << std::endl;
-
-  pcl::PointXYZIT p2 {1,2};
-  // std::cout << p2 << std::endl;
-
-
-  pcl::PointCloud<pcl::PointXYZIT>::Ptr pc = std::make_shared<pcl::PointCloud<pcl::PointXYZIT>>();
-  pc->push_back(p2);
-  pc->push_back(p2);
-  pc->push_back(p2);
-  pc->push_back(p2);
-
-  std::cout<< pc->width <<" " << pc->height << std::endl;
-
-
-  pcl::io::OctreePointCloudCompression<pcl::PointXYZIT> compress;
-
-  std::stringstream ss;
-
-  compress.encodePointCloud(pc,ss);
-
-  std::cout<<" str = " << ss.str() << std::endl;
+  std::cout << imu1 << std::endl;
+  std::cout << imu2.ShortDebugString() << std::endl;
+  std::cout << imu3 << std::endl;
+}
 
+int main() {
 
-  // pc2
-  pcl::PointCloud<pcl::PointXYZIT>::Ptr pc2 = std::make_shared<pcl::PointCloud<pcl::PointXYZIT>>();
-  compress.decodePointCloud(ss,pc2);
 
-  std::cout << *pc2 << std::endl;
 
+  ImuDemo();
+  PointcloudDemo();
 
   std::cout << "Done!!!" << std::endl;
 

src/struct_pb/protoc-plugin/example/zpointcloud.cpp

@@ -0,0 +1,39 @@
+#include "zpointcloud.hpp"
+
+#include <pcl/compression/octree_pointcloud_compression.h>
+#include <pcl/octree/octree_pointcloud.h>
+
+#include <pcl/io/impl/octree_pointcloud_compression.hpp>
+#include <pcl/octree/impl/octree_pointcloud.hpp>
+
+namespace converter {
+// StructToClass declaration
+
+// static pcl::io::OctreePointCloudCompression<pcl::PointXYZIT> s_compress(
+//     {pcl::io::compression_Profiles_e::MED_RES_ONLINE_COMPRESSION_WITH_COLOR}, true);
+static pcl::io::OctreePointCloudCompression<pcl::PointXYZIT> s_compress;
+
+::inner_class::ZPointCloudXYZIT StructToClass(inner_struct::sp_cZPointCloudXYZIT const& in) {
+  ::inner_class::ZPointCloudXYZIT result;
+  *result.mutable_header() = StructToClass(*(std::shared_ptr<inner_struct::ZFrame const>)in);
+  // 压缩点云
+  std::stringstream compressed_pcl_pointcloud;
+  s_compress.encodePointCloud(in, compressed_pcl_pointcloud);
+  result.set_pcl_compressed_pc(compressed_pcl_pointcloud.str());
+  // std::cout <<" compress size = " << compressed_pcl_pointcloud.str().size() <<"\n";
+  return result;
+}
+
+// ClassToStruct declaration
+inner_struct::spZPointCloudXYZIT ClassToStruct(::inner_class::ZPointCloudXYZIT const& in) {
+  ::inner_struct::spZPointCloudXYZIT result = std::make_shared<inner_struct::ZPointCloudXYZIT>();
+  pcl::PointCloud<pcl::PointXYZIT>::Ptr pc_result = result; // stupid code , need solve
+  *(std::shared_ptr<::inner_struct::ZFrame>)result = ClassToStruct(in.header());
+  // 解压点云
+  std::stringstream compressed_pcl_pointcloud(in.pcl_compressed_pc());
+  s_compress.decodePointCloud(compressed_pcl_pointcloud, pc_result);
+
+  return result;
+}
+
+}  // namespace converter

src/struct_pb/protoc-plugin/example/zpointcloud.hpp

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <pcl/point_cloud.h>
+
+#include "base.struct_pb.h"
+#include "pointcloud.pb.h"
+#include "xyzit_points.hpp"
+
+// save to file
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/impl/pcd_io.hpp>
+
+namespace inner_struct {
+
+template <typename _PointType>
+struct ZPointCloud : public ZFrame, public pcl::PointCloud<_PointType> {
+
+};
+
+using ZPointCloudXYZIT = ::inner_struct::ZPointCloud<pcl::PointXYZIT>;
+using spZPointCloudXYZIT = std::shared_ptr<::inner_struct::ZPointCloudXYZIT>;
+using sp_cZPointCloudXYZIT = std::shared_ptr<::inner_struct::ZPointCloudXYZIT const>;
+
+
+template <typename _PointType>
+inline std::ostream& operator<<(std::ostream& os,::inner_struct::ZPointCloud<_PointType> const& in)
+{
+    os << (ZFrame&)in << std::endl;
+    os << (pcl::PointCloud<_PointType>&)in << std::endl;
+    return os;
+}
+
+}  // namespace inner_struct
+
+
+namespace converter {
+// StructToClass declaration
+
+::inner_class::ZPointCloudXYZIT StructToClass(inner_struct::sp_cZPointCloudXYZIT const& in);
+// enum
+
+// ClassToStruct declaration
+::inner_struct::spZPointCloudXYZIT ClassToStruct(::inner_class::ZPointCloudXYZIT const& in);
+
+} // namespace converter