125 lines
4.3 KiB
C++
125 lines
4.3 KiB
C++
#ifndef CCLOUDSHOW_H
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#define CCLOUDSHOW_H
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#include <pcl/point_types.h>
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#include <pcl/point_cloud.h>
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#include <pcl/visualization/pcl_visualizer.h>
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#include <vtkTextActor.h>
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#include <atomic>
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#include <condition_variable>
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#include <deque>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <vector>
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#include "ICloudShow.h"
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class vtkOrientationMarkerWidget;
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class CCloudShow : public ICloudShow
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{
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public:
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CCloudShow();
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~CCloudShow() override;
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int Show(const CloudData& cloudData,
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const CloudFrameInfo& info,
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const std::string& windowName = "PointCloud") override;
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int Start(const std::string& windowName = "PointCloud", void* hwnd = nullptr) override;
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int Stop() override;
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int SpinOnce(int ms = 1) override;
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bool IsRunning() const override;
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void PushFrame(const CloudData& cloudData,
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const CloudFrameInfo& info) override;
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void SetSaveBaseDir(const std::string& dir) override;
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void SetSaveFrameInterval(int interval) override;
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bool IsSaveActive() const override;
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bool IsQuitRequested() const override;
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bool IsSaveRequested() const override;
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void ClearSaveRequest() override;
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private:
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static void keyboardCallback(const pcl::visualization::KeyboardEvent& event, void* cookie);
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// UI
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void handleStartStopToggle();
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void updateStartStopButton();
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void updateProgressText();
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// 保存线程
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void saveLoop();
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// ── 显示相关 ──
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std::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;
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std::atomic<bool> m_bRunning{false};
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std::mutex m_cloudMutex;
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bool m_bUpdated = false;
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bool m_bFirstCloud = true;
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std::string m_windowName;
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vtkOrientationMarkerWidget* m_axesWidget = nullptr;
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// 当前待显示的 PCL 云 + 最近一帧 CloudData（供单帧保存）
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// 注意：m_lastCloudData / m_lastCloudBuffers / m_lastFrameInfo 被 PushFrame（回调线程）
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// 和 SpinOnce（主线程）同时访问，需 m_lastCloudMutex 保护
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pcl::PointCloud<pcl::PointXYZI>::Ptr m_displayCloud;
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pcl::PointCloud<pcl::PointXYZI>::Ptr m_renderPool; // 复用，避免每帧 make_shared
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std::mutex m_lastCloudMutex;
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CloudData m_lastCloudData;
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CloudFrameInfo m_lastFrameInfo;
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std::vector<std::vector<uint8_t>> m_lastCloudBuffers;
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// UI 状态
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std::atomic<bool> m_bQuitRequested{false};
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std::atomic<bool> m_bSaveRequested{false};
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std::atomic<bool> m_bStartStopRequested{false};
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vtkTextActor* m_pStartStopBtnActor = nullptr;
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vtkTextActor* m_pProgressActor = nullptr;
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std::mutex m_textMutex;
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// ── 保存相关 ──
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struct SaveTask
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{
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CloudData cloudData; // 深拷贝的标准格式
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std::vector<std::vector<uint8_t>> buffers; // p3DPoint 指向的实际内存（预分配复用）
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CloudFrameInfo info;
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};
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std::string m_saveBaseDir = ".";
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std::atomic<bool> m_bSaveActive{false};
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std::string m_currentSessionDir;
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// SaveTask 缓冲池：PushFrame（回调线程）从池取预分配好的 task，
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// 零堆分配完成数据拷贝，saveLoop 用完后归还。消除回调线程的 malloc 延迟抖动。
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std::mutex m_taskPoolMutex;
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std::vector<SaveTask> m_taskPool; // 空闲 task 栈
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SaveTask acquireTask();
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void releaseTask(SaveTask& task);
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void packIntoTask(SaveTask& task,
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const ICloudShow::CloudData& cloudData,
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const CloudFrameInfo& info);
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std::mutex m_saveMutex;
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std::condition_variable m_saveCv;
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std::deque<SaveTask> m_saveQueue;
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std::atomic<bool> m_bFlushAndSave{false}; // true=STOP已点击，保存线程开始写盘
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static constexpr int SAVE_THREAD_COUNT = 1;
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std::atomic<bool> m_saveExit{false};
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std::vector<std::thread> m_saveThreads;
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std::atomic<int> m_nSaveSeq{0};
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std::atomic<int> m_nSingleSaveSeq{0};
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std::atomic<int> m_nSaveDropped{0};
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std::atomic<int> m_saveCompleted{0};
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std::atomic<int> m_saveTotal{0};
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int m_nSaveFrameInterval = 10; // 保存帧间隔，默认每10帧存1帧
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int m_nPushFrameCount = 0; // PushFrame 调用计数（回调线程独占）
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};
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#endif // CCLOUDSHOW_H
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