Measure/thirdpart/rs_driver/tool/rs_driver_viewer.cpp

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#include <rs_driver/api/lidar_driver.hpp>
#include <rs_driver/msg/pcl_point_cloud_msg.hpp>

#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace robosense::lidar;
using namespace pcl::visualization;

typedef PointCloudT<PointXYZI> PointCloudMsg;
std::shared_ptr<PointCloudMsg> g_pointcloud;

std::shared_ptr<PCLVisualizer> pcl_viewer;
std::mutex mex_viewer;

bool checkKeywordExist(int argc, const char* const* argv, const char* str)
{
  for (int i = 1; i < argc; i++)
  {
    if (strcmp(argv[i], str) == 0)
    {
      return true;
    }
  }
  return false;
}

bool parseArgument(int argc, const char* const* argv, const char* str, std::string& val)
{
  int index = -1;

  for (int i = 1; i < argc; i++)
  {
    if (strcmp(argv[i], str) == 0)
    {
      index = i + 1;
    }
  }

  if (index > 0 && index < argc)
  {
    val = argv[index];
    return true;
  }

  return false;
}

void parseParam(int argc, char* argv[], RSDriverParam& param)
{
  param.decoder_param.wait_for_difop = false;

  std::string result_str;

  // input param
  parseArgument(argc, argv, "-pcap", param.input_param.pcap_path);
  if (param.input_param.pcap_path.empty())
  {
    param.input_type = InputType::ONLINE_LIDAR;
  }
  else
  {
    param.input_type = InputType::PCAP_FILE;
  }

  parseArgument(argc, argv, "-host", param.input_param.host_address);
  parseArgument(argc, argv, "-group", param.input_param.group_address);

  if (parseArgument(argc, argv, "-msop", result_str))
  {
    param.input_param.msop_port = std::stoi(result_str);
  }
  if (parseArgument(argc, argv, "-difop", result_str))
  {
    param.input_param.difop_port = std::stoi(result_str);
  }

  // decoder param
  if (parseArgument(argc, argv, "-type", result_str))
  {
    param.lidar_type = strToLidarType(result_str);
  }
  if (parseArgument(argc, argv, "-x", result_str))
  {
    param.decoder_param.transform_param.x = std::stof(result_str);
  }
  if (parseArgument(argc, argv, "-y", result_str))
  {
    param.decoder_param.transform_param.y = std::stof(result_str);
  }
  if (parseArgument(argc, argv, "-z", result_str))
  {
    param.decoder_param.transform_param.z = std::stof(result_str);
  }
  if (parseArgument(argc, argv, "-roll", result_str))
  {
    param.decoder_param.transform_param.roll = std::stof(result_str);
  }
  if (parseArgument(argc, argv, "-pitch", result_str))
  {
    param.decoder_param.transform_param.pitch = std::stof(result_str);
  }
  if (parseArgument(argc, argv, "-yaw", result_str))
  {
    param.decoder_param.transform_param.yaw = std::stof(result_str);
  }
}

void printHelpMenu()
{
  RS_MSG << "Argument list: " << RS_REND;
  RS_MSG << "        -msop             = LiDAR msop port number,the default value is 6699" << RS_REND;
  RS_MSG << "        -difop            = LiDAR difop port number,the default value is 7788" << RS_REND;
  RS_MSG << "        -host             = LiDAR destination address." << RS_REND;
  RS_MSG << "        -group            = LiDAR destination group address." << RS_REND;
  RS_MSG << "        -pcap             = The path of the pcap file, if this argument is set, the driver "
            "will work in off-line mode and read the pcap file. Otherwise the driver work in online mode." << RS_REND;

  RS_MSG << "        -type             = LiDAR type(RS16, RS32, RSBP, RSHELIOS, RS128, RS80, RSM1), the default value is RS16" 
    << RS_REND;
  RS_MSG << "        -x                = Transformation parameter, unit: m " << RS_REND;
  RS_MSG << "        -y                = Transformation parameter, unit: m " << RS_REND;
  RS_MSG << "        -z                = Transformation parameter, unit: m " << RS_REND;
  RS_MSG << "        -roll             = Transformation parameter, unit: radian " << RS_REND;
  RS_MSG << "        -pitch            = Transformation parameter, unit: radian " << RS_REND;
  RS_MSG << "        -yaw              = Transformation parameter, unit: radian " << RS_REND;
}

void printParam(const RSDriverParam& param)
{
  if (param.input_type == InputType::PCAP_FILE)
  {
    RS_INFOL << "Working mode: ";
    RS_INFO << "Offline Pcap " << RS_REND;
    RS_INFOL << "Pcap Path: ";
    RS_INFO << param.input_param.pcap_path << RS_REND;
  }
  else
  {
    RS_INFOL << "Working mode: ";
    RS_INFO << "Online LiDAR " << RS_REND;
  }

  RS_INFOL << "MSOP Port: ";
  RS_INFO << param.input_param.msop_port << RS_REND;
  RS_INFOL << "DIFOP Port: ";
  RS_INFO << param.input_param.difop_port << RS_REND;
  RS_INFOL << "Host Adress: ";
  RS_INFO << param.input_param.host_address << RS_REND;
  RS_INFOL << "Group Adress: ";
  RS_INFO << param.input_param.group_address << RS_REND;

  RS_INFOL << "LiDAR Type: ";
  RS_INFO << lidarTypeToStr(param.lidar_type) << RS_REND;
  RS_INFOL << "Transformation Parameters (x, y, z, roll, pitch, yaw): " << RS_REND;
  RS_INFOL << "x: ";
  RS_INFO << std::fixed << param.decoder_param.transform_param.x << RS_REND;
  RS_INFOL << "y: ";
  RS_INFO << std::fixed << param.decoder_param.transform_param.y << RS_REND;
  RS_INFOL << "z: ";
  RS_INFO << std::fixed << param.decoder_param.transform_param.z << RS_REND;
  RS_INFOL << "roll: ";
  RS_INFO << std::fixed << param.decoder_param.transform_param.roll << RS_REND;
  RS_INFOL << "pitch: ";
  RS_INFO << std::fixed << param.decoder_param.transform_param.pitch << RS_REND;
  RS_INFOL << "yaw: ";
  RS_INFO << std::fixed << param.decoder_param.transform_param.yaw << RS_REND;
}

std::shared_ptr<PointCloudMsg> pointCloudGetCallback(void)
{
  return g_pointcloud;
}

/**
 * @brief The point cloud callback function. This function will be registered to lidar driver.
 *              When the point cloud message is ready, driver can send out messages through this function.
 * @param msg  The lidar point cloud message.
 */
void pointCloudPutCallback(std::shared_ptr<PointCloudMsg> msg)
{
  /* Note: Please do not put time-consuming operations in the callback function! */
  /* Make a copy of the message and process it in another thread is recommended*/
  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_pointcloud(new pcl::PointCloud<pcl::PointXYZI>);
  pcl_pointcloud->points.assign(msg->points.begin(), msg->points.end());
  pcl_pointcloud->height = msg->height;
  pcl_pointcloud->width = msg->width;
  pcl_pointcloud->is_dense = msg->is_dense;

  PointCloudColorHandlerGenericField<pcl::PointXYZI> point_color_handle(pcl_pointcloud, "intensity");

  {
    const std::lock_guard<std::mutex> lock(mex_viewer);
    pcl_viewer->updatePointCloud<pcl::PointXYZI>(pcl_pointcloud, point_color_handle, "rslidar");
  }
}

/**
 * @brief The exception callback function. This function will be registered to lidar driver.
 * @param code The error code struct.
 */
void exceptionCallback(const Error& code)
{
  /* Note: Please do not put time-consuming operations in the callback function! */
  /* Make a copy of the error message and process it in another thread is recommended*/
  RS_WARNING << code.toString() << RS_REND;
}

int main(int argc, char* argv[])
{
  RS_TITLE << "------------------------------------------------------" << RS_REND;
  RS_TITLE << "            RS_Driver Viewer Version: v" << getDriverVersion() << RS_REND;
  RS_TITLE << "------------------------------------------------------" << RS_REND;

  if (argc < 2)
  {
    RS_INFOL << "Use 'rs_driver_viewer -h/--help' to check the argument menu..." << RS_REND;
  }

  if (checkKeywordExist(argc, argv, "-h") || checkKeywordExist(argc, argv, "--help"))
  {
    printHelpMenu();
    return 0;
  }

  RSDriverParam param;                 ///< Create a parameter object
  parseParam(argc, argv, param);
  printParam(param);

  g_pointcloud = std::make_shared<PointCloudMsg>();

  pcl_viewer = std::make_shared<PCLVisualizer>("RSPointCloudViewer");

  pcl_viewer->setBackgroundColor(0.0, 0.0, 0.0);
  pcl_viewer->addCoordinateSystem(1.0);
  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_pointcloud(new pcl::PointCloud<pcl::PointXYZI>);
  pcl_viewer->addPointCloud<pcl::PointXYZI>(pcl_pointcloud, "rslidar");
  pcl_viewer->setPointCloudRenderingProperties(PCL_VISUALIZER_POINT_SIZE, 2, "rslidar");

  LidarDriver<PointCloudMsg> driver;  ///< Declare the driver object
  driver.regExceptionCallback(exceptionCallback);  ///< Register the exception callback
  driver.regPointCloudCallback(pointCloudGetCallback, pointCloudPutCallback); ///< Register the point cloud callback 
  if (!driver.init(param))                         ///< Call the init function
  {
    RS_ERROR << "Driver Initialize Error..." << RS_REND;
    return -1;
  }

  driver.start();  ///< The driver thread will start

  RS_INFO << "RoboSense Lidar-Driver Viewer start......" << RS_REND;

  while (!pcl_viewer->wasStopped())
  {
    {
      const std::lock_guard<std::mutex> lock(mex_viewer);
      pcl_viewer->spinOnce();
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
  }

  return 0;
}