分离base

CMakeLists.txt

@@ -47,5 +47,5 @@ set(struct_pb_plugin_DIRS ${CMAKE_CURRENT_LIST_DIR}/src/protoc-plugin)  # struct
 set(Protobuf_IMPORT_DIRS ${struct_pb_plugin_DIRS} )     # 设置protoc --proto_path参数
 
 
-add_subdirectory(src/protoc-plugin)
-add_subdirectory(src/example)
+# add_subdirectory(src/protoc-plugin)
+add_subdirectory(src/example)

src/example/CMakeLists.txt

@@ -25,7 +25,7 @@ protobuf_generate_python(PROTO_PYTHON_SRCS
 
 # 删除点云,图片proto记录文件
 list(FILTER PROTO_FILES EXCLUDE REGEX "pointcloud\\.proto$|image\\.proto$")
-message(status "-------${PROTO_FILES}-------")
+# message(status "-------${PROTO_FILES}-------")
 
 
 protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS

src/example/base.proto

@@ -5,65 +5,6 @@ import "proto_to_struct.proto";
 
 option(write_eigen_helper) = true;
 
-enum  ZFrameType{
-     None = 0;
-     VEHICLE_MODEL = 1;  // 车辆运动约束虚拟帧
-     // 虚拟帧
-     IMU = 5;           // IMU
-     CHASSIS_INFO = 6;  // 车轮里程计
-     GNSS_POS = 7;      // GNSS 观测值
-     GNSS_VEL = 8;      // GNSS 观测值
-     GNSS_ALL = 9;      // GNSS 观测值[vel pos dual_antenna]
-     //
-     CGI610 = 10;
-     Cpt7 = 11;
-     STATE = 15;
-     //
-     TRAJECTORY = 16;
-     ODOMETRY = 17;
-     //
-     PERCEPTION = 20;
-     SEMANTIC_MAP = 21;
-     LINESEGMENT = 25;
-     POLE = 26;
-     SIGN = 27;
-     SEMANTIC_MATCH = 40;
-     ZSemanticMatchDebugInfo = 41;
-     // LIDAR
-     PointCloud = 50;
-     LIDAR_MATCH = 51;            // 激光匹配结果
-     PointCloudMapFileInfo = 52;  // 地图文件信息
-     LIDAR_FRAME_MATCH = 55;      // 激光匹配结果
-     LIDAR_MAP_MATCH = 56;        // 激光匹配结果
-     // zloc_view
-     Zloc_Map_Msg = 60;                 // zloc_view 显示zlocmap_msg地图使用
-     Zmap_Map_Msg = 61;                 // zloc_view 显示zmap_msg地图使用
-     Localization_Msg = 62;             // zloc_view 显示 localization/pose地图使用
-     CompressImage = 63;                // zloc_view 显示图像使用
-     PerceptionLane = 64;               // zloc_view 显示感知车道线使用
-     OrdinaryImage = 65;                // zloc_view 显示图像使用
-     SourceCompressed_ColorImage = 66;  // 用于建图的原始压缩彩色图像
-     SourceColorImage = 67;             // 用于建图的原始彩色图像
-     SourceCompressed_GreyImage = 68;   // 用于建图的原始压缩灰色图像
-     SourceGreyImage = 69;              // 用于建图的原始灰色图像
-     PointCloud_LOCALMAP = 70;          // 局部点云地图
-     PointCloud_GLOBALMAP = 71;         // 全局点云地图
-     PointCloud_INIMAGE = 72;           // 投影到图像上的点云
-     ODOMETRY_DELTA = 73;               // 里程计增量信息
-     CvImage = 74;                      // 解码后的opencv图像格式
-     // 整点输出标志
-     FUSE_STATE_EPOCH = 127;  // 整点输出标志
-}
-
-message ZFrame
-{
-     double t0 = 1;
-     double t1 = 2;
-     double t2 = 3;
-     ZFrameType type = 4;
-     string channel_name = 5;
-}
-
 message Vector4f
 {
     option(eigen_typename) = "Eigen::Vector4f";

src/example/chasis.proto

@@ -1,6 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
+import "zframe.proto";
 import "base.proto";
 import "proto_to_struct.proto";
 

src/example/gnss.proto

@@ -1,8 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "proto_to_struct.proto";
+import "zframe.proto";
 import "base.proto";
+import "proto_to_struct.proto";
 
 message ZGnss
 {

src/example/image.proto

@@ -1,7 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "base.proto";
+import "zframe.proto";
 
 message ZImage
 {

src/example/imu.proto

@@ -1,6 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
+import "zframe.proto";
 import "base.proto";
 import "proto_to_struct.proto";
 

src/example/perception.proto

@@ -1,6 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
+import "zframe.proto";
 import "base.proto";
 import "proto_to_struct.proto";
 

src/example/pointcloud.proto

@@ -1,7 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
+import "zframe.proto";
 import "base.proto";
+import "proto_to_struct.proto";
 
 message ZPointCloudXYZIT
 {

src/example/state.proto

@@ -1,6 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
+import "zframe.proto";
 import "base.proto";
 import "proto_to_struct.proto";
 

src/example/zframe.proto

@@ -0,0 +1,64 @@
+syntax = "proto3";
+package zhito.inner_class;
+
+import "base.proto";
+import "proto_to_struct.proto";
+
+enum  ZFrameType{
+     None = 0;
+     VEHICLE_MODEL = 1;  // 车辆运动约束虚拟帧
+     // 虚拟帧
+     IMU = 5;           // IMU
+     CHASSIS_INFO = 6;  // 车轮里程计
+     GNSS_POS = 7;      // GNSS 观测值
+     GNSS_VEL = 8;      // GNSS 观测值
+     GNSS_ALL = 9;      // GNSS 观测值[vel pos dual_antenna]
+     //
+     CGI610 = 10;
+     Cpt7 = 11;
+     STATE = 15;
+     //
+     TRAJECTORY = 16;
+     ODOMETRY = 17;
+     //
+     PERCEPTION = 20;
+     SEMANTIC_MAP = 21;
+     LINESEGMENT = 25;
+     POLE = 26;
+     SIGN = 27;
+     SEMANTIC_MATCH = 40;
+     ZSemanticMatchDebugInfo = 41;
+     // LIDAR
+     PointCloud = 50;
+     LIDAR_MATCH = 51;            // 激光匹配结果
+     PointCloudMapFileInfo = 52;  // 地图文件信息
+     LIDAR_FRAME_MATCH = 55;      // 激光匹配结果
+     LIDAR_MAP_MATCH = 56;        // 激光匹配结果
+     // zloc_view
+     Zloc_Map_Msg = 60;                 // zloc_view 显示zlocmap_msg地图使用
+     Zmap_Map_Msg = 61;                 // zloc_view 显示zmap_msg地图使用
+     Localization_Msg = 62;             // zloc_view 显示 localization/pose地图使用
+     CompressImage = 63;                // zloc_view 显示图像使用
+     PerceptionLane = 64;               // zloc_view 显示感知车道线使用
+     OrdinaryImage = 65;                // zloc_view 显示图像使用
+     SourceCompressed_ColorImage = 66;  // 用于建图的原始压缩彩色图像
+     SourceColorImage = 67;             // 用于建图的原始彩色图像
+     SourceCompressed_GreyImage = 68;   // 用于建图的原始压缩灰色图像
+     SourceGreyImage = 69;              // 用于建图的原始灰色图像
+     PointCloud_LOCALMAP = 70;          // 局部点云地图
+     PointCloud_GLOBALMAP = 71;         // 全局点云地图
+     PointCloud_INIMAGE = 72;           // 投影到图像上的点云
+     ODOMETRY_DELTA = 73;               // 里程计增量信息
+     CvImage = 74;                      // 解码后的opencv图像格式
+     // 整点输出标志
+     FUSE_STATE_EPOCH = 127;  // 整点输出标志
+}
+
+message ZFrame
+{
+     double t0 = 1;
+     double t1 = 2;
+     double t2 = 3;
+     ZFrameType type = 4;
+     string channel_name = 5;
+}

src/example/zimage.hpp

@@ -2,7 +2,7 @@
 
 #include <pcl/point_cloud.h>
 
-#include "base.struct_pb.h"
+#include "zframe.struct_pb.h"
 #include "image.pb.h"
 
 #include <opencv2/core.hpp>

src/example/zpointcloud.hpp

@@ -2,7 +2,7 @@
 
 #include <pcl/point_cloud.h>
 
-#include "base.struct_pb.h"
+#include "zframe.struct_pb.h"
 #include "pointcloud.pb.h"
 #include "xyzit_points.hpp"