modularization/src/tool/bqev_multilidarcalib/mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>

#include <QImage>
#include <QGraphicsScene>
#include <QTimer>
#include <QPainter>
#include <QMutex>
#include <memory>

#include <QDateTime>

#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <QTimer>

#include <QTime>

#include <QGroupBox>
#include <QGridLayout>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>

#include <QFileDialog>
#include <QCheckBox>
#include <QComboBox>

#include "myview.h"

#include "modulecomm.h"

#define LIDAR_MAX 6


namespace Ui {
class MainWindow;
}


namespace iv {
    const int grx = 200, gry = 550, centerx = 100, centery = 50;
    const double gridwide = 0.2;
    struct ObstacleBasic
    {
        bool valid;
        float nomal_x;
        float nomal_y;
        float nomal_z;

        float speed_relative;
        float speed_x;
        float speed_y;
        float speed_z;

        float high;
        float low;

        int esr_ID;
    };

//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsLiDAR;
//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsRadar;
//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsCamera;
//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>>ObsRadarPointer;
    struct Obs_grid
    {
        double high;
        double low;
        double obshight;
        int pointcount;
        int ob;//障碍物属性，0地面 ，1路沿，2障碍物
    };

    typedef Obs_grid LidarGrid;
    typedef Obs_grid* LidarGridPtr;
}

class BBox
{
public:
    double mcenter_x;
    double mcenter_y;
    double mydis;
    double mxdis;
    double xmin;
    double ymin;
    double xmax;
    double ymax;
    std::shared_ptr<std::vector<iv::ObstacleBasic>> mPC;
    BBox(std::shared_ptr<std::vector<iv::ObstacleBasic>> ptrclu)
    {
        int nSize = ptrclu->size();
        if(nSize < 1)return;
        iv::ObstacleBasic x = ptrclu->at(0);
        xmin = x.nomal_x;
        xmax = x.nomal_x;
        ymin = x.nomal_y;
        ymax = ymin;
        int i;
        for(i=1;i<nSize;i++)
        {
            x = ptrclu->at(i);
            if(x.nomal_x<xmin)xmin = x.nomal_x;
            if(x.nomal_x>xmax)xmax = x.nomal_x;
            if(x.nomal_y<ymin)ymin = x.nomal_y;
            if(x.nomal_y>ymax)ymax = x.nomal_y;
        }
        mydis = ymax - ymin+0.2;
        mxdis = xmax - xmin+0.2;
        mcenter_x = xmin + mxdis/2.0;
        mcenter_y = ymin + mydis/2.0;

        mPC.swap(ptrclu);
//        std::cout<<"box x="<<mcenter_x<<" y="<<mcenter_y<<" xdis ="<<mxdis<<" ydis = "<<mydis<<" point count ="<<nSize<<std::endl;

    }


};

class LidarData
{
public:
  double mxmin = -300;
  double mxmax = 300;
  double mymin = -300;
  double mymax = 300;
  double mzmin = -300;
  double mzmax = 300;
  double mxoff = 0;
  double myoff = 0;
  double mzoff = 0;
  double mxyawoff = 0;
  double myyawoff = 0;
  double mzyawoff = 0;
  pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud;
  std::string mstrname;
  bool mbView = true;
  double mcomp[6];//xmin ymin zmin xmax ymax zmax
};


class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();
    QTime mTime;

    void UpdatePointCloud(pcl::PointCloud<pcl::PointXYZI>::Ptr pc);


private slots:
    void on_checkBox_clicked();
    void onTimer();
    virtual void paintEvent(QPaintEvent *);

private:
    Ui::MainWindow *ui;

    bool mbOpen;
    void * mpa;


    unsigned char mbmpLD[400*600*4];

    QImage *image;
    QPainter *painter;
    MyView *myview;
    QTimer *timer;
    QGraphicsScene *scene;



    QTimer mTimer;

    QMutex mMutex;
    QMutex mMutexPer;

    pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud;

public:
     void resizeEvent(QResizeEvent *event);

private:
     void AdjustWPos(QSize sizemain);

     void CreateStatusView(QGridLayout * gl);
     void CreateView();
     QGroupBox * mgplidar;
     QLineEdit * mpLE_lidarcount;
     int mnlidarcount;
     QPushButton * mpPB_saveonepcd;
     QPushButton * mpPB_savepcd;
     QLineEdit * mpLE_onepcd;
     QLineEdit * mpLE_savepcd;
     int mnonepcd;
     bool mbSaveOne;
     bool mbSave;
     int mnsave;
     QLineEdit * mpLE_savefolder;

public slots:
     void onSaveOnePCD();
     void onSavePCD();
     void onSelectFolder();
     void onLoadPCD();
     void onViewChange(int index);
     void onLidarSetChagne(int index);
     void onCompLidarChagne(int index);
     void onViewSetClick();
     void onLidarCheck();
     void onNDTCalc();

private:
     QString mstrSavePath;
     QScrollArea * mgSA;
     void CreateSelection(QGroupBox * pGP);
     void CreateViewsetting(QGroupBox * pGP);
     void CreateCompview(QGroupBox * pGP);
     void CreateNDTView(QGroupBox * pGP);
     QCheckBox * mpCheckLidar[LIDAR_MAX];

     QComboBox mpCBView;

     std::vector<LidarData> mLidarData;

     void UpdateView();

     void AddLidarData(LidarData & ld);

     QLineEdit * mpLEViewSet[12];
     QLineEdit * mpLEComp[6];
     QLineEdit * mpLENDT[6];
     double moffValue[12];
     double mfNDT[12];
     QComboBox * mpCBLidar;
     QComboBox * mpCBCompLidar;

     int mnViewType = 2;

     inline bool PointShow(pcl::PointXYZI point,LidarData ld);
     inline void OffPoint(pcl::PointXYZI & point,LidarData & ld);


};

#endif // MAINWINDOW_H