version3

README.md

@@ -9,16 +9,23 @@
 
 #### 安装教程
 
-1.  xxxx
-2.  xxxx
+1.  chmod +x build.sh
+2.  ./build.sh
 3.  xxxx
 
 #### 使用说明
 
+<<<<<<< Updated upstream
 在最外层目录 catkin_make
 可能需要 source ./devel/setup.bash
 1.  roslaunch librviz_tutorial laser.launch 
 2.  xxxx
+=======
+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
+>>>>>>> Stashed changes
 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
 )
 
 
@@ -68,8 +76,8 @@ 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)
 
 
@@ -85,11 +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/src/loginDialog.cpp

@@ -9,8 +9,10 @@
 
 LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
 {
+   
+    this->setFixedSize(380, 300);
     userLabel = new QLabel(this);
-    userLabel->move(80, 80);
+    userLabel->move(70, 80);
     userLabel->setText(tr("用户名"));
 
     userEditLine = new QLineEdit(this);
@@ -18,7 +20,7 @@ LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
     userEditLine->setPlaceholderText(tr("请输入用户名"));
 
     pwdLabel = new QLabel(this);
-    pwdLabel->move(80, 130);
+    pwdLabel->move(70, 130);
     pwdLabel->setText(tr("密码"));
 
     pwdEditLine = new QLineEdit(this);
@@ -33,23 +35,24 @@ LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
     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 = {"laser_topic", "open_file", "bag_progress"};
+    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";
 
-    // to do read from file
+    // 创建用户表存下
     createUser();
     // userPasswords["root"] = hashPassword("root123");
     // userPasswords["wbw"] = hashPassword("123");
 }
 
 
-
 void LoginDialog::createUser(){
-    std::ifstream inputFile("../Rviz/librviz_ws/src/librviz_tutorial/sources/user/user.txt");
+    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;
@@ -57,7 +60,7 @@ void LoginDialog::createUser(){
             std::istringstream iss(line);
             std::string username, pwd;
             if(iss>> username && iss>> pwd){
-                if(pwd.size() < 8){
+                if(pwd.size() <= 8){
                     // 根据长度判断是否已经被加密
                     pwd = hashPassword(pwd);
                 }
@@ -74,7 +77,7 @@ void LoginDialog::createUser(){
 
 // 加密后的账户密码写入user.txt
 void LoginDialog::writeHash(const std::map<QString, QString> user){
-    std::ofstream file("../Rviz/librviz_ws/src/librviz_tutorial/sources/user/user.txt");
+    std::ofstream file(user_file_name);
 
     if(file.is_open()){
         for(auto iter = user.begin(); iter != user.end() ; iter++){
@@ -124,15 +127,16 @@ std::string LoginDialog::hashPassword(const std::string& password) {
 // 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(iter->second == hashPassword(pwd)){
-        // 用户密码都对
-        return 2;
-       }else{
-        // 用户对，密码不对
-        return 1;
-       }
-    } else {
+    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;
     }
@@ -168,35 +172,6 @@ void LoginDialog::login()
     userEditLine->clear();
     pwdEditLine->clear();
     userEditLine->setFocus();
-        // //判断用户名和密码是否正确 todo 函数判断
-        // if (userEditLine->text().trimmed() == tr("tom") &&
-        //     pwdEditLine->text() == tr("123456"))
-        // {
-            // for(int i=0 ; i<setting_name.size(); i++){
-            //     QWidget *foundChild = parent()->findChild<QWidget*>(setting_name[i]);
-            //     if (foundChild) {
-            //         qDebug()<<"111" ;
-            //         // 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::Yes);
-        //     // landed = 1;
-        //     accept();
-        // }
-        // else
-        //     {
-        //     QMessageBox::warning(this, tr("登录失败"), tr("用户名或者密码错误"), QMessageBox::Yes);
-        // }
-        // userEditLine->clear();
-        // pwdEditLine->clear();
-        // userEditLine->setFocus();
-
- 
-        // QMessageBox::information(this, tr("提示"), tr("已经登陆，请勿重新登录"), QMessageBox::Yes);
-
 }
 
 

point_visual/src/loginDialog.h

@@ -46,6 +46,7 @@ private:
     // std::vector<QString> setting_name; 
     // 用户表
     std::map<QString, QString> userPasswords;
+    std::string user_file_name;
 
 };
 

point_visual/src/myviz.h

@@ -32,20 +32,22 @@
 
 
 #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"
 
@@ -56,8 +58,8 @@ class RenderPanel;
 class VisualizationManager;
 class ToolManager;
 class PropertyTreeWidget;
-class ToolManager;
-class PropertyTreeWidget;
+class ViewManager;
+class ViewController;
 }
 
 // BEGIN_TUTORIAL
@@ -70,64 +72,93 @@ public:
   virtual ~MyViz();
   void subCallback(const std_msgs::String& msg);
   void pubThread();
-  void PlayCircle(double 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(const QString& text); // 圆圈变化
   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;
@@ -142,17 +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;