main.cpp

#include <opencv2/opencv.hpp>
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"

#include <vector>
#include <string>
#include <Eigen/Core>
#include <unistd.h>
#include <fstream>
#include <cstring>
#include <map>

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common_headers.h>
#include <pcl/io/io.h>
#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/console/parse.h>

#include "pcl_utils.h"

#include "json/json.h"

using namespace std;
using namespace Eigen;
using namespace cv;
using namespace pcl;

int main(int argc, char **argv)
{

    string filename = "Adata/";

    vector<String> files_json; //存放文件路径

    glob(filename, files_json, true);
    // glob(filename_rgb, files_rgb, true);
    // glob(filename_depth, files_depth, true);

    // 点云变量
    // 使用智能指针，创建一个空点云。这种指针用完会自动释放。
    PointCloud<PointXYZRGB>::Ptr cloud(new PointCloud<PointXYZRGB>);
    // PointCloud<PointXYZRGB>::Ptr cloud_sum(new PointCloud<PointXYZRGB>);

    // for (int i = 0; i < files_json.size(); i++)
    // {
    //     cout << "name : " << files_json[i] << endl;
    //     pcl::io::loadPCDFile(files_json[i], *cloud);
    //     *cloud_sum = *cloud_sum + *cloud;
    //     cloud->points.clear();
    //     cout << "sum " << i << " / " << files_json.size() <<  "done" << endl;
    // }
    // pcl::io::savePCDFile("cloud_sum.pcd", *cloud_sum);

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

    viewer->setBackgroundColor(0, 0, 0);
/*
    //根节点
    Json::Value root;

    //根节点属性
    root["name"] = Json::Value("Tsybius");
    root["age"] = Json::Value(23);
    root["sex_is_male"] = Json::Value(true);

    //子节点
    Json::Value partner;

    //子节点属性
    partner["partner_name"] = Json::Value("Galatea");
    partner["partner_age"] = Json::Value(21);
    partner["partner_sex_is_male"] = Json::Value(false);

    //子节点挂到根节点上
    root["partner"] = Json::Value(partner);

    //数组形式
    root["achievement"].append("ach1");
    root["achievement"].append("ach2");
    root["achievement"].append("ach3");

    //缩进输出
    cout << "StyledWriter:" << endl;
    Json::StyledWriter sw;
    cout << sw.write(root) << endl
         << endl;

    //输出到文件
    ofstream os;
    os.open("PersonalInfo.json");
    os << sw.write(root);
    os.close();
*/
    for (int i = 3; i < 4; i++)
    {

        //     cout << "read name :" << i << " : " << files[i/3] << endl;

        boost::property_tree::ptree pose_pt = Utils::loadPoseFile(files_json[i]);

        string name = pose_pt.get<string>("name");

        cout << "name : " << name << endl;
        // string global_name = pose_pt.get<string>("global_name");

        std::vector<Eigen::Vector3d> RGB_color;
        if (!Utils::getRGBcolor(pose_pt, RGB_color))
            cout << "read RGB failed!" << endl;

        std::vector<Eigen::Vector3d> points;
        if (!Utils::getXYZpoints(pose_pt, points))
            cout << "read XYZ failed!" << endl;

        // read the Bbox
        std::map<string, Eigen::Matrix<double, 6, 1>> Bbox;
        if (!Utils::getBbox(pose_pt, Bbox))
            ;

        cout << "read date done.." << endl;
        // cout << "global_name : " << global_name << endl;
        // cout << "RGB_color_size : " << RGB_color.size() << endl;
        // cout << "points_size : " << points.size() << endl;
        cout << "Bbox_size : " << Bbox.size() << endl;

        for (auto iter = Bbox.begin(); iter != Bbox.end(); iter++)
        {
            string name_point = iter->first;
            Eigen::Matrix<double, 6, 1> Bbox_point = iter->second;
            //  addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max,
            //double r = 1.0, double g = 1.0, double b = 1.0, const std::string &id = "cube", int viewport = 0);
            viewer->addCube(Bbox_point[0], Bbox_point[3], Bbox_point[1],
                            Bbox_point[4], Bbox_point[2], Bbox_point[5],
                            0, 1, 0,
                            name_point, 0);

            cout << name_point << endl;
        }

        for (int j = 0; j < RGB_color.size(); j++)
        {
            pcl::PointXYZRGB point;

            point.x = points[j](0);
            point.y = points[j](1);
            point.z = points[j](2);

            point.b = RGB_color[j](2);
            point.g = RGB_color[j](1);
            point.r = RGB_color[j](0);

            cloud->push_back(point);
        }
        cout << i << "point number :" << cloud->points.size() << endl;

        // String ss = "pointcloud_" + name + ".pcd";
        // pcl::io::savePCDFile(ss, *cloud);

        // 清除数据并退出
        // cloud->points.clear();
        // cout << "Point cloud saved." << endl;
        cout << "next pcd reading..." << endl;
    }

    cloud->width = 1;
    cloud->height = cloud->points.size();

    pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb_cloud(cloud);
    viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb_cloud, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "sample cloud");
    viewer->addCoordinateSystem(1.0);

    // cv::imwrite("vignette.jpeg", test);
    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
    cv::waitKey(0);
    viewer->removeAllPointClouds();

    // 清除数据并退出
    cloud->points.clear();

    return 0;
}