OctreePointCloudCompression compile done

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

@@ -7,7 +7,8 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/examples)
 include(../cmake/struct_pb.cmake)
 
 cmake_policy(SET CMP0075 NEW)
-find_package(PCL REQUIRED package common)
+find_package(PCL REQUIRED package common io octree)
+# find_package(PCL REQUIRED )
 
 
 if (Protobuf_FOUND)
@@ -28,7 +29,10 @@ if (Protobuf_FOUND)
     add_executable(struct_pb_tutorial tutorial.cpp           
       ${PROTO_SRCS}
       ${PROTO_HDRS})
-      target_link_libraries(struct_pb_tutorial protobuf::libprotobuf pcl_common)
+      target_link_libraries(struct_pb_tutorial protobuf::libprotobuf pcl_common pcl_io pcl_octree)
+      # target_link_libraries(struct_pb_tutorial protobuf::libprotobuf ${PCL_LIBRARIES})
+
+
 
     target_include_directories(struct_pb_tutorial PUBLIC 
       ${CMAKE_CURRENT_BINARY_DIR}

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

@@ -5,51 +5,22 @@
 
 // #include "addressbook.struct_pb.h"
 #include "imu.struct_pb.h"
-#include <pcl/compression/organized_pointcloud_compression.h>
-
-#include <pcl/point_types.h>
-namespace pcl 
-{
-struct EIGEN_ALIGN16 _PointXYZIT {
-  PCL_ADD_POINT4D  // This adds the members x,y,z which can also be accessed
-                   // using the point (which is float[4])
-  union {
-    struct {
-      float intensity;
-      float dt;  // 添加 intensity 属性
-    };
-    float data_c[4];
-  };
-  PCL_MAKE_ALIGNED_OPERATOR_NEW
-};
-
-struct PointXYZIT : public _PointXYZIT
-{
-  inline constexpr PointXYZIT (const _PointXYZIT &p) : PointXYZIT{p.x, p.y, p.z, p.intensity, p.dt} {}
-
-  inline constexpr PointXYZIT (float _intensity = 0.f, float _dt = 0.f) : PointXYZIT(0.f, 0.f, 0.f, _intensity,_dt) {}
-
-  inline constexpr PointXYZIT (float _x, float _y, float _z, float _intensity = 0.f, float _dt = 0.f) : _PointXYZIT{{{_x, _y, _z, 1.0f}}, {{_intensity,_dt}}} {}
-
-  friend std::ostream& operator << (std::ostream& os, const PointXYZIT& p);
-};
-
-inline std::ostream& operator << (std::ostream& os, const PointXYZIT& p)
-{
-    os << "(" << p.x << "," << p.y << "," << p.z << " - " << p.intensity <<" " << p.dt << ")";
-    return (os); 
-}
 
-}
+#include "xyzit_points.hpp"
+#include <pcl/point_cloud.h>
+
+#include <pcl/io/pcd_io.h>
+
+// #include <pcl/compression/organized_pointcloud_compression.h>
+// #include <pcl/io/impl/organized_pointcloud_compression.hpp>
+
+#include <pcl/compression/octree_pointcloud_compression.h>
+#include <pcl/io/impl/octree_pointcloud_compression.hpp>
+
+#include <pcl/octree/octree_pointcloud.h>
+#include <pcl/octree/impl/octree_pointcloud.hpp>
+
 
-// 声明 PCL 的宏定义以实现点类型
-POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointXYZIT,               // 自定义点类型的名称
-                                  (float, x, x)             // 属性 x
-                                  (float, y, y)             // 属性 y
-                                  (float, z, z)             // 属性 z
-                                  (float, intensity, intensity) // 属性 intensity
-                                  (float, dt, dt) // 属性 dt
-)
 
 
 int main() {
@@ -68,11 +39,36 @@ int main() {
   // 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::PointXYZI p1 {1};
+  // std::cout << p1 << std::endl;
 
   pcl::PointXYZIT p2 {1,2};
-  std::cout << p2 << std::endl;
+  // 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;
+
+
+  // pc2
+  pcl::PointCloud<pcl::PointXYZIT>::Ptr pc2 = std::make_shared<pcl::PointCloud<pcl::PointXYZIT>>();
+  compress.decodePointCloud(ss,pc2);
+
+  std::cout << *pc2 << std::endl;
 
 
   std::cout << "Done!!!" << std::endl;

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

@@ -0,0 +1,43 @@
+#include <pcl/point_types.h>
+namespace pcl 
+{
+struct EIGEN_ALIGN16 _PointXYZIT {
+  PCL_ADD_POINT4D  // This adds the members x,y,z which can also be accessed
+                   // using the point (which is float[4])
+  union {
+    struct {
+      float intensity;
+      float dt;  // 添加 intensity 属性
+    };
+    float data_c[4];
+  };
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct PointXYZIT : public _PointXYZIT
+{
+  inline constexpr PointXYZIT (const _PointXYZIT &p) : PointXYZIT{p.x, p.y, p.z, p.intensity, p.dt} {}
+
+  inline constexpr PointXYZIT (float _intensity = 0.f, float _dt = 0.f) : PointXYZIT(0.f, 0.f, 0.f, _intensity,_dt) {}
+
+  inline constexpr PointXYZIT (float _x, float _y, float _z, float _intensity = 0.f, float _dt = 0.f) : _PointXYZIT{{{_x, _y, _z, 1.0f}}, {{_intensity,_dt}}} {}
+
+  friend std::ostream& operator << (std::ostream& os, const PointXYZIT& p);
+};
+
+inline std::ostream& operator << (std::ostream& os, const PointXYZIT& p)
+{
+    os << "(" << p.x << "," << p.y << "," << p.z << " - " << p.intensity <<" " << p.dt << ")";
+    return (os); 
+}
+
+}
+
+// 声明 PCL 的宏定义以实现点类型
+POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointXYZIT,               // 自定义点类型的名称
+                                  (float, x, x)             // 属性 x
+                                  (float, y, y)             // 属性 y
+                                  (float, z, z)             // 属性 z
+                                  (float, intensity, intensity) // 属性 intensity
+                                  (float, dt, dt) // 属性 dt
+)