#ifndef PCLVIEWER_H

#define PCLVIEWER_H

#include "defines.h"

#include <iostream>

#include "radarserviceprovider.h"

#include "radarserviceprovider32.h"

#include "radarserviceproviderbase.h"

// Qt

#include <QWidget>

#include <QObject>

#include <QTimer>

// Point Cloud Library

//#include "pcl/visualization/pcl_visualizer.h"

#include "pcl/pcl_visualizer.h"

#include <vtkRenderWindow.h>

#include<QMutex>

#include<QDialog>

#include "QVTKWidget.h"

class vtkRenderer;

class vtkRenderWindowInteractor;

class vtkImageViewer2;

#define MAX_READ_LENGTH  5000

namespace Ui

{

  class PCLViewer;

};

class PCLViewer : public QVTKWidget

{

  Q_OBJECT

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  explicit PCLViewer (QWidget *parent = ,int width =,int height =);

  ~PCLViewer ();

protected:

  boost::shared_ptr<pcl::visualization::PCLVisualizer>

m_viewerOrg;

  PointCloudT::Ptr m_cloudOrg;

private slots:

   void combineRadarData();

private:

   int  m_height;

   int  m_width;

  PointCloudT m_pOrgData;

  PointCloudT m_ptestData;

  bool m_frontArrivedFlag;   //ǰ�״����ݵ�����ֵ

  bool m_backArrivedFlag;     // ���״����ݵ�����־

  int m_cubeSize;

  QStringList m_idList;

  QStringList m_idSituationList;

  pcl::visualization::Camera m_cam;

  bool m_viewFollow = true;

  QTimer *m_timer;

  QMutex m_lidarBackMutex;

  QMutex m_lidarfrontMutex;

  QMutex m_situationTargetsMutex;

  QMutex m_lidarTargetsMutex;

};

#endif // PCLVIEWER_H

#include "pclviewer.h"

#include <vtkOutputWindow.h>

#include <vtkPolyDataAlgorithm.h>

#include "service.h"

#include <QFile>

#include<QFileDevice>

#include<QXmlStreamReader>

#include"config.h"

#include "src/datacache.h"

#include<QMessageBox>

#include "service.h"

#include<QMutexLocker>

#include"math.h"

#include "vtkRenderer.h"

#include "vtkRenderWindowInteractor.h"

#include "vtkConeSource.h"

#include <vtkImageViewer2.h>

#include <vtkPNGReader.h>

#define MAX_POINT_NUM 1

PCLViewer::PCLViewer (QWidget *parent, int width, int height) :

    QVTKWidget(parent),m_frontArrivedFlag(false),m_backArrivedFlag(false),

    m_width(width),m_height(height)

{

  qDebug()<<"width:height"<<width<<":"<<height;

  this->setFixedSize(width,height);

  m_cubeSize =0;

  vtkOutputWindow::SetGlobalWarningDisplay(0);

  m_cloudOrg.reset(new PointCloudT);

  m_cloudOrg->points.resize(MAX_POINT_NUM);

  m_viewerOrg.reset (new pcl::visualization::PCLVisualizer ("viewer", false));

  this->SetRenderWindow (m_viewerOrg->getRenderWindow ());

  m_viewerOrg->setupInteractor (this->GetInteractor (), this->GetRenderWindow ());

  m_viewerOrg->resetCamera();

  m_viewerOrg->addPointCloud (m_cloudOrg, "cloud");

  m_viewerOrg->setCameraPosition(0, 0, 72, 0, 1, 0, 0);

  std::vector<pcl::visualization::Camera> cam;

  m_viewerOrg->getCameras(cam);

  m_cam =cam[0];

}

void PCLViewer::combineRadarData()

{

      if(m_viewFollow)

      {

         float offsetx  = 视觉x坐标 ;

         float offsety = 视觉y坐标;

         m_cam.pos[0] = offsetx;

         m_cam.pos[1]= offsety;

         m_cam.pos[2]=72;

         m_cam.focal[0] = offsetx;

         m_cam.focal[1]= offsety;

         m_cam.focal[2]=0;

         m_cam.view[0]=0;

         m_cam.view[1]=1;

         m_cam.view[2]=0;

         m_viewerOrg->setCameraParameters(m_cam);

     }

     if(m_threadList.count()>0) // m_threadList接收线程列表

     {

         PointCloudT::Ptr data =m_threadList.at(0)->readData();

         PointCloudT combine = *data;

         for(int i =1;i<m_threadList.count();i++ )

         {

             PointCloudT::Ptr backData = m_threadList.at(i)->readData() ;

             combine += *backData;

         }

         PointCloudT::Ptr pCombine = combine.makeShared();

         m_viewerOrg->updatePointCloud(pCombine, "cloud");

         this->update();

     }

     for(auto p: m_threadList)

     {

         p->setDataUsed();

     }

}