!1 The first version of the pointcloud visualization tool.

Merge pull request !1 from jzq/online_version

README.md

@@ -9,14 +9,18 @@
 
 #### 安装教程
 
-1.  xxxx
-2.  xxxx
+1.  chmod +x build.sh
+2.  ./build.sh
 3.  xxxx
 
 #### 使用说明
 
-1.  xxxx
-2.  xxxx
+
+在最外层目录 catkin_make
+在工作目录下(src上一层)
+记得source(可能需要)
+1.  source ./devel/setup.bash
+2.  roslaunch point_visual laser.launch
 3.  xxxx
 
 #### 参与贡献

build.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+# 创建工作目录
+mkdir ~/PointVisual
+
+cd ..
+#将当前src移动到PointVisual
+cp -r src ~/PointVisual
+
+# 切换到工作目录
+cd ~/PointVisual
+
+# 在工作目录make
+catkin_make
+
+if [ $? -eq 0 ]; then
+
+# 执行source命令
+    source ./devel/setup.bash
+
+# 运行其他命令
+# roslaunch point_visual laser.launch
+    roscore &
+    sleep 2
+    rosrun point_visual myviz
+else
+    exit 1
+fi

librviz_tutorial/launch/laser.launch

@@ -1,10 +0,0 @@
-<!--
-  Used for visualising rplidar in action.  
-  
-  It requires rplidar.launch.
- -->
-<launch>
-  <include file="$(find librviz_tutorial)/launch/rplidar.launch" />
-
-  <node name="myviz" pkg="librviz_tutorial" type="myviz"/>
-</launch>

point_visual/CMakeLists.txt

@@ -4,7 +4,7 @@
 ##
 ## First start with some standard catkin stuff.
 cmake_minimum_required(VERSION 3.0.2)
-project(librviz_tutorial)
+project(point_visual)
 
 set(SDK_PATH "./sdk/")
 
@@ -17,7 +17,15 @@ FILE(GLOB SDK_SRC
 find_package(catkin REQUIRED COMPONENTS 
 rviz roscpp std_msgs 
 rosconsole sensor_msgs # node.cpp
-rosbag  
+rosbag
+pcl_ros  
+)
+
+find_package(PCL REQUIRED)
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ /usr/include/pcl-1.8
 )
 
 
@@ -58,6 +66,7 @@ set(SRC_FILES
   src/myviz.cpp
   src/main.cpp
   tools/color.cpp
+  src/loginDialog.cpp
 )
 
 ## Add the "myviz" executable and specify the list of source files we
@@ -67,9 +76,9 @@ set(SRC_FILES
 
 add_executable(myviz ${SRC_FILES} )
 
-add_executable(rplidarNode src/node.cpp ${SDK_SRC})  # 创建启动laser
-target_link_libraries(rplidarNode ${catkin_LIBRARIES})
-
+# add_executable(rplidarNode src/node.cpp ${SDK_SRC})  # 创建启动laser
+# target_link_libraries(rplidarNode ${catkin_LIBRARIES})
+target_link_libraries(myviz -lcrypto)
 
 
 ## Link the myviz executable with whatever Qt libraries have been defined by
@@ -84,11 +93,11 @@ target_link_libraries(myviz ${QT_LIBRARIES} ${catkin_LIBRARIES})
 ## Install
 install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(TARGETS rplidarNode 
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# install(TARGETS rplidarNode 
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
 
 install(DIRECTORY launch sdk
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

point_visual/launch/laser.launch

@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.  
+  
+  It requires rplidar.launch.
+ -->
+<launch>
+  <!-- <include file="$(find point_visual)/launch/rplidar.launch" /> -->
+
+  <node name="myviz" pkg="point_visual" type="myviz"/>
+</launch>

point_visual/launch/rplidar.launch

@@ -1,5 +1,5 @@
 <launch>
-  <node name="rplidarNode"          pkg="librviz_tutorial"  type="rplidarNode" output="screen">
+  <node name="rplidarNode"          pkg="point_visual"  type="rplidarNode" output="screen">
   <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
   <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
   <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->

point_visual/package.xml

@@ -1,5 +1,5 @@
 <package>
-  <name>librviz_tutorial</name>
+  <name>point_visual</name>
   <version>0.11.0</version>
   <description>
      Tutorial showing how to compile your own C++ program with RViz displays and features.

point_visual/sources/user/input.txt

@@ -0,0 +1,5 @@
+root 123!@
+wbw 1234
+
+## 待删除，保存原始用户密码
+## 

point_visual/sources/user/user.txt

@@ -0,0 +1,2 @@
+root p<><70><EFBFBD><08><><EFBFBD><EFBFBD>w<>:<3A><>R<EFBFBD>wH<77>pD<02><>#<23><><EFBFBD>
6
+wbw <03>gB<16><>\v<1E><><EFBFBD>U<EFBFBD>g<EFBFBD>6#ȳ<><C8B3>E<EFBFBD><13>x<EFBFBD><78>F<EFBFBD>

point_visual/src/loginDialog.cpp

@@ -0,0 +1,181 @@
+#include "loginDialog.h"
+
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QMessageBox>
+
+#include<QDebug>
+
+LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
+{
+   
+    this->setFixedSize(380, 300);
+    userLabel = new QLabel(this);
+    userLabel->move(70, 80);
+    userLabel->setText(tr("用户名"));
+
+    userEditLine = new QLineEdit(this);
+    userEditLine->move(150, 80);
+    userEditLine->setPlaceholderText(tr("请输入用户名"));
+
+    pwdLabel = new QLabel(this);
+    pwdLabel->move(70, 130);
+    pwdLabel->setText(tr("密码"));
+
+    pwdEditLine = new QLineEdit(this);
+    pwdEditLine->move(150, 130);
+    pwdEditLine->setPlaceholderText(tr("请输入密码"));
+    pwdEditLine->setEchoMode(QLineEdit::Password);
+
+    loginBtn = new QPushButton(this);
+    loginBtn->move(60, 200);
+    loginBtn->setText(tr("登录"));
+
+    exitBtn = new QPushButton(this);
+    exitBtn->move(220, 200);
+    exitBtn->setText(tr("退出"));
+
+    connect(loginBtn, &QPushButton::clicked, this, &LoginDialog::login);
+    connect(exitBtn, &QPushButton::clicked, this, &LoginDialog::close);
+
+    // 待解锁的组件名称
+    setting_name = {"cloud_topic", "laser_topic", "open_file", "bag_progress", "fixd_frame_topic"};
+    // 账号路径
+    user_file_name = "../PointVisual/src/point_visual/sources/user/user.txt";
+
+    // 创建用户表存下
+    createUser();
+    // userPasswords["root"] = hashPassword("root123");
+    // userPasswords["wbw"] = hashPassword("123");
+}
+
+
+void LoginDialog::createUser(){
+    std::ifstream inputFile(user_file_name);
+        // 第一次读写user.txt将user加密后，建立userPasswords
+    if(inputFile.is_open()){
+        std::string line;
+        while(std::getline(inputFile, line)){
+            std::istringstream iss(line);
+            std::string username, pwd;
+            if(iss>> username && iss>> pwd){
+                if(pwd.size() <= 8){
+                    // 根据长度判断是否已经被加密
+                    pwd = hashPassword(pwd);
+                }
+                // 创建map/用户表
+                userPasswords[QString::fromStdString(username)] = QString::fromStdString(pwd);
+            }
+        }
+        inputFile.close();
+    }else{
+        qDebug() << "Unable to open the user.txt.";
+    }
+    writeHash(userPasswords);
+}
+
+// 加密后的账户密码写入user.txt
+void LoginDialog::writeHash(const std::map<QString, QString> user){
+    std::ofstream file(user_file_name);
+
+    if(file.is_open()){
+        for(auto iter = user.begin(); iter != user.end() ; iter++){
+            file << (iter->first).toStdString() << " ";
+            file << (iter->second).toStdString() << std::endl;
+        }
+        file.close();
+    }else{
+        qDebug()<<"Unable to write hashcode!!!";
+    }
+}
+
+
+// hash加密函数
+QString LoginDialog::hashPassword(const QString& pwd) {
+    std::string password = pwd.toStdString();
+    unsigned char hash[SHA256_DIGEST_LENGTH];
+    SHA256_CTX sha256;
+    SHA256_Init(&sha256);
+    SHA256_Update(&sha256, password.c_str(), password.size());
+    SHA256_Final(hash, &sha256);
+
+    std::string hashedPassword;
+    for (int i = 0; i < SHA256_DIGEST_LENGTH; ++i) {
+        hashedPassword += hash[i];
+    }
+    return QString(hashedPassword.c_str());
+}
+
+// 重载加密函数
+std::string LoginDialog::hashPassword(const std::string& password) {
+    // std::string password = pwd.toStdString();
+    unsigned char hash[SHA256_DIGEST_LENGTH];
+    SHA256_CTX sha256;
+    SHA256_Init(&sha256);
+    SHA256_Update(&sha256, password.c_str(), password.size());
+    SHA256_Final(hash, &sha256);
+
+    std::string hashedPassword;
+    for (int i = 0; i < SHA256_DIGEST_LENGTH; ++i) {
+        hashedPassword += hash[i];
+    }
+    return hashedPassword;
+}
+
+
+// 判断用户账号返回不同code
+int LoginDialog::checkUser(const QString username, const QString pwd){
+    auto iter = userPasswords.find(username);
+    if(iter != userPasswords.end()){
+        if(pwd.size() > 8) { return 1; }
+        if(iter->second == hashPassword(pwd)){
+         // 用户密码都对
+         return 2;
+        }else{
+         // 用户对，密码不对
+         return 1;
+        }
+    }else {
+        // 用户不对
+        return 0;
+    }
+}
+
+// 槽函数
+void LoginDialog::login()
+{
+    int flag = checkUser(userEditLine->text().trimmed(), pwdEditLine->text());
+    switch(flag){
+        case 0: {
+            QMessageBox::warning(this, tr("登录失败"), tr("用户名错误"), QMessageBox::Ok);
+            break;
+        }
+        case 1: {
+            QMessageBox::warning(this, tr("登录失败"), tr("密码错误"), QMessageBox::Ok);
+            break;
+        }
+        case 2:{
+            for(int i=0 ; i<setting_name.size(); i++){
+                QWidget *foundChild = parent()->findChild<QWidget*>(setting_name[i]);
+                if (foundChild) {
+                    // 找到了指定的子组件 在这里可以对子组件进行操作
+                    foundChild->setEnabled(true); 
+                }else{
+                    qDebug()<<"第" << i+1 <<"组件未找到" ;
+                }
+            }
+            QMessageBox::information(this, tr("登录成功"), tr("已解锁"), QMessageBox::Ok);
+            accept();
+        }
+    }
+    userEditLine->clear();
+    pwdEditLine->clear();
+    userEditLine->setFocus();
+}
+
+
+LoginDialog::~LoginDialog()
+{
+
+}

point_visual/src/loginDialog.h

@@ -0,0 +1,54 @@
+#ifndef LOGINDIALOG_H
+#define LOGINDIALOG_H
+
+#include <QDialog>
+#include<iostream>
+#include<vector>
+#include <map>
+#include <openssl/sha.h>
+#include <fstream>
+#include<sstream> 
+
+class QLabel;
+class QLineEdit;
+class QPushButton;
+
+
+class LoginDialog : public QDialog
+{
+    Q_OBJECT
+public:
+    explicit LoginDialog(QWidget *parent = 0);
+    ~LoginDialog();
+    int checkUser(const QString username, const QString pwd);
+    QString hashPassword(const QString& pwd);
+    std::string hashPassword(const std::string& password); // 重载
+    void createUser();
+    void writeHash(const std::vector<std::string> usernames, const std::vector<std::string> pwds);
+    void writeHash(const std::map<QString, QString>);
+    // 待解锁组件名
+    std::vector<QString> setting_name; 
+
+//槽函数
+private Q_SLOTS:
+    void login();
+
+private:
+    QLabel *userLabel;
+    QLabel *pwdLabel;
+
+    QLineEdit *userEditLine;
+    QLineEdit *pwdEditLine;
+
+    QPushButton *loginBtn;
+    QPushButton *exitBtn;
+    // 待解锁组件名
+    // std::vector<QString> setting_name; 
+    // 用户表
+    std::map<QString, QString> userPasswords;
+    std::string user_file_name;
+
+};
+
+#endif // LOGINDIALOG_H
+

point_visual/src/main.cpp

@@ -37,6 +37,7 @@
 #include <ros/ros.h>
 #include "myviz.h"
 #include<iostream>
+#include<QDebug>
 
 int main(int argc, char **argv)
 {

point_visual/src/myviz.h

@@ -30,22 +30,26 @@
 #define MYVIZ_H
 
 
+
 #include <QWidget>
-#include<QString>
+#include <QString>
 #include <QGridLayout>
-#include<ros/ros.h>
-#include"std_msgs/String.h"
-#include<thread>
+#include <ros/ros.h>
+#include "std_msgs/String.h"
+#include <thread>
 #include <visualization_msgs/Marker.h>
 
-#include<QTimer>
+#include <QTimer>
 #include <QMutex>
 #include <QProcess>
 #include <QThread>
-#include<QSlider>
+#include <QSlider>
 #include <rosbag/bag.h>
 #include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/PointCloud2.h>
+
 #include <rosbag/view.h>
+#include"loginDialog.h"
 
 namespace rviz
 {
@@ -54,6 +58,8 @@ class RenderPanel;
 class VisualizationManager;
 class ToolManager;
 class PropertyTreeWidget;
+class ViewManager;
+class ViewController;
 }
 
 // BEGIN_TUTORIAL
@@ -66,57 +72,93 @@ public:
   virtual ~MyViz();
   void subCallback(const std_msgs::String& msg);
   void pubThread();
-  void PlayCircle(int index);  // 圆圈线程执行函数
+  void PlayCircles();  // 圆圈线程执行函数
   rosbag::View *view;
+  rosbag::View *view_;
+
 private Q_SLOTS:   // QT信号和槽
   void setThickness( int thickness_percent );
   void setCellSize( int cell_size_percent );
   void setCloudTopic(const QString &newTopic);
-  void setLaserTopic(const QString &newTopic);
-  void setCloudSize(int cloudsize);
-  void setLaserSize(int lasersize);
+  void setCloudSize(const QString& size);
+  void setCloudAlpha(const QString& text);
+  void setLaserAlpha(const QString& laserAlpha);
 
+  void setLaserTopic(const QString &newTopic);
+  void setLaserSize(const QString & laserSize);
   void LaserColorChanged(int index); // 雷达颜色
   void GridColorChanged(int index); // 格栅颜色
+  void CloudColorChanged(int index);
   void setFixedFrame(const QString &FixedFrame);
   void setBackgroundColor(const QString& bg_color); // 背景颜色
   void AxesDisplayChanged(int index); // axe
-  void CircleDisplayChanged(int index); // circle
   void Tree_Display(QGridLayout* layout, int index);
-  
+
+  void login_button_clicked();
+  void quit_login_button_clicked();
   void slot_select(); // 切换至select模式
   void slot_move_camera();
+  void CircleDisplayAdded(); // 增加圆圈按钮
+  void CircleDisplayDeleted(); // 删除圆圈按钮
+  void ViewZero(); // 视角回正
+  void ViewLeft(); // 视角左转
+  void ViewRight(); // 视角右转
+  void ViewTop(); // 视角俯视
 
   // off
   double extractDuration(const QByteArray& output);
   void selectFile();
   void SpeedChanged(int index);
   void openFile();
+  void pcdFile();
+  void plyFile();
+  void bin();
+  std::string find(const std::string Path);
+
+  void pcd2ply (std::string &in_file, std::string& out_file);
+  void pcd2bin (std::string &in_file, std::string& out_file);
+  void ply2pcd (std::string &in_file, std::string& out_file);
+  void ply2bin (std::string &in_file, std::string& out_file);
+  void bin2pcd (std::string &in_file, std::string& out_file);
+  void bin2ply (std::string &in_file, std::string& out_file);
+  void TransformeType();
+
 private:
   rviz::VisualizationManager* manager_; // 
   rviz::RenderPanel* render_panel_;
   rviz::ToolManager* tool_manager_;
+  rviz::ViewManager* view_man_; // 视角总类
+  rviz::ViewController* viewController; // 视角控制类
   rviz::Display* grid_;
   rviz::Display* cloud;
   rviz::Display* laser_;
   rviz::Display* axes_display;
   rviz::Display* marker_;
-  rviz::PropertyTreeWidget* tree_widget_ ;
+  rviz::PropertyTreeWidget* select_tree_widget_ ; // select框
+
+  // rviz::PropertyTreeWidget* view_tree_widget_ ;
   ros::NodeHandle nh;
   ros::Subscriber sub;
   ros::Publisher pub;
   std::thread pub_thread;
+
   std::vector<QString> color_name; // 颜色的名称集合
+  // std::vector<QString> button_name; // 带图标按钮的名称集合
   QString color_icon_filename;
+  QString button_icon_filename;
+  
+  LoginDialog* dlg;
+  bool landed;
+  QString cur_fixed_frame;
+  int circle_index;
+  std::map<double, int> circle_radius;
   // off
-  bool isclicked;// 用于判断play第几次按下play键
   bool ispauseclick;// 用于判断暂停键第几次按下
   int count;// 用于记录timeout的次数
   bool sliderreleased;// 用于判断是否拖动了进度条
   bool playagain;// 用于检测是否多次按下play按钮
   bool isthreadplaying;// 用于标识线程是否在运行
-  bool abs;// 用于单独开线程？
-  bool stored;// 用于存储一次容器,只在第一次play的时候存储容器
+  bool stored = false;// 用于存储一次容器,只在第一次play的时候存储容器
   bool is_pause = false;
   bool is_reset = false;
   bool is_end = false;
@@ -131,17 +173,30 @@ private:
   bool threadout = false;
   bool ischanged = false;
   bool ismoved = false;
-  double speed_rate;
+  
+  bool sliderpause = false;
+  bool is_next = false;
+  bool is_previous = false;
+  bool flag = false;
+  bool pointcloud2 = false;
+  double speed_rate = 10;
+  QPushButton* play;
   QSlider* progress;
   QString filePath;
-  double duration;
-  int remain;
+  QString Topic;
+  QString SavefileName;
+  QString SaveMulfileName;
+
+  double sliderPosition = 0;
   int prog_num = 0;
   std::vector<QString> speed_name;
   ros::Publisher scan_pub;
-  std::vector<sensor_msgs::LaserScan::ConstPtr> indx;// 存储节点信息
-  int countbag;// 存储播放的具体位置
-  double indxsize;
+  ros::Publisher scan_pubpcd;
+  std::vector<sensor_msgs::LaserScan::ConstPtr> indx;// 存储laser节点信息
+  std::vector<sensor_msgs::PointCloud2::ConstPtr> indxpcd;// 存储cloud节点信息
+  int countbag = 0;// 存储播放的具体位置
+  double indxsize = 0;
+  double indxpcdsize = 0;
   int test = 0;