modularization/src/tool/view_pcdmap/main.cpp

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <QCoreApplication>

#include <thread>
#include <chrono>

//#include "modulecomm.h"

#include <getopt.h>

char gstr_mapname[256];
char gstr_xmlpath[256];
char gstr_logpath[256];

void print_useage()
{
    std::cout<<" -p --pcd $pcdpath : map path. eq.  -p /home/nvidia/map/gpu.pcd"<<std::endl;
    std::cout<<" -h --help print help"<<std::endl;
}

int  GetOptLong(int argc, char *argv[]) {
    int nRtn = 0;
    int opt; // getopt_long() 的返回值
    int digit_optind = 0; // 设置短参数类型及是否需要参数

    // 如果option_index非空，它指向的变量将记录当前找到参数符合long_opts里的
    // 第几个元素的描述，即是long_opts的下标值
    int option_index = 0;
    // 设置短参数类型及是否需要参数
    const char *optstring = "p:h";

    // 设置长参数类型及其简写，比如 --reqarg <==>-r
    /*
    struct option {
             const char * name;  // 参数的名称
             int has_arg; // 是否带参数值，有三种：no_argument， required_argument，optional_argument
             int * flag; // 为空时，函数直接将 val 的数值从getopt_long的返回值返回出去，
                     // 当非空时，val的值会被赋到 flag 指向的整型数中，而函数返回值为0
             int val; // 用于指定函数找到该选项时的返回值，或者当flag非空时指定flag指向的数据的值
        };
    其中：
        no_argument(即0)，表明这个长参数不带参数（即不带数值，如：--name）
            required_argument(即1)，表明这个长参数必须带参数（即必须带数值，如：--name Bob）
            optional_argument(即2)，表明这个长参数后面带的参数是可选的，（即--name和--name Bob均可）
     */
    static struct option long_options[] = {
        {"pcdpath", required_argument, NULL, 'p'},
        {"help",  no_argument,       NULL, 'h'},
 //       {"optarg", optional_argument, NULL, 'o'},
        {0, 0, 0, 0}  // 添加 {0, 0, 0, 0} 是为了防止输入空值
    };

    while ( (opt = getopt_long(argc,
                               argv,
                               optstring,
                               long_options,
                               &option_index)) != -1) {
//        printf("opt = %c\n", opt); // 命令参数，亦即 -a -b -n -r
//        printf("optarg = %s\n", optarg); // 参数内容
//        printf("optind = %d\n", optind); // 下一个被处理的下标值
//        printf("argv[optind - 1] = %s\n",  argv[optind - 1]); // 参数内容
//        printf("option_index = %d\n", option_index);  // 当前打印参数的下标值
//        printf("\n");
        switch(opt)
        {
        case 'p':
            strncpy(gstr_mapname,optarg,255);
            break;
        case 'h':
            print_useage();
            nRtn = 1; //because use -h
            break;
        default:
            break;
        }

    }

    return nRtn;
}


pcl::visualization::CloudViewer viewer1("Cloud Viewer");//创建viewer对象

int user_data;


void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    //设置背景颜色
    viewer.setBackgroundColor(0.0,0.0,0.0);

//    viewer.setCameraPosition(0,0,1.0,0,0,0);
//    viewer.setBackgroundColor (1.0, 0.5, 1.0);
    //球体坐标
    pcl::PointXYZ o;
    o.x = 0;
    o.y = 0;
    o.z = 0;
    //添加球体

//    viewer.addSphere (o, 1, "sphere", 0);

//    viewer.addCube(-0.9,0.9,9.5,10.5,-1.9,-0.4,0.0,1.0,0.0,"flag",0);
    //Draw Car
//    viewer.addCube(-0.9,0.9,-2.3,2.3,-1.9,-0.4,0.0,0.0,1.0,"car",0);



    std::cout << "i only run once" << std::endl;

}

void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
 //   ss << "Once per viewer loop: " << count++;

    ss << "Point Cloud Count: " << user_data;
    viewer.removeShape ("text", 0);
    viewer.addText (ss.str(), 200, 300, "text", 0);



    //FIXME: possible race condition here:
//    user_data++;
}



int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    snprintf(gstr_mapname,255,"");

    int nRtn = GetOptLong(argc,argv);
    if(nRtn == 1)  //show help,so exit.
    {
        return 0;
    }


    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
                new pcl::PointCloud<pcl::PointXYZI>());
    std::string path = gstr_mapname;

    if(path.length() < 1)
    {
        std::cout<<"Please use -p set pcd path."<<std::endl;
        return 0;
    }

    //This will only get called once
    viewer1.runOnVisualizationThreadOnce (viewerOneOff);

    //This will get called once per visualization iteration
    viewer1.runOnVisualizationThread (viewerPsycho);



    pcl::io::loadPCDFile<pcl::PointXYZI>(path,*point_cloud);

    viewer1.showCloud(point_cloud);

    while(!viewer1.wasStopped())
    {
        std::this_thread::sleep_for(std::chrono::milliseconds(10));

    }
    return 0;


    return a.exec();

}