#include?“stdafx.h“
#include?“basePCL.h“


CbasePCL::CbasePCL（boost::shared_ptr??pStatic）
{
	m_pStatic?=?pStatic;
	//關(guān)閉VTK白色警告窗體
	vtkSmartPointer?reader?=?vtkSmartPointer::New（）;
	reader->GlobalWarningDisplayOff（）;
	reader->SetGlobalWarningDisplay（0）;
	//reader->SetGlobalWarningDisplay（）;
	reader->Update（）;

	m_pPointCloudLeft.reset（new?pcl::PointCloud（））;
	m_pPointCloudLeft->width?=?1;
	m_pPointCloudLeft->height?=?100000;
	m_pPointCloudLeft->resize（100000）;
	m_pPointCloudLeft->is_dense?=?true;

	m_pPointCloudRight.reset（new?pcl::PointCloud（））;
	m_pPointCloudRight->width?=?1;
	m_pPointCloudRight->height?=?100000;
	m_pPointCloudRight->resize（100000）;
	m_pPointCloudRight->is_dense?=?true;

	m_pViewer.reset（new?pcl::visualization::PCLVisualizer（“cloud“?false））;
	m_pViewer->setBackgroundColor（0.184?0.308?0.308）;


	m_pRenderWindow?=?m_pViewer->getRenderWindow（）;
	m_pRenderWindow->SetParentId（pStatic->m_hWnd）;
	CRect?rect;
	pStatic->GetWindowRect（&rect）;
	m_pRenderWindow->SetSize（rect.right?-?rect.left?rect.bottom?-?rect.top）;
	m_pRenderWindow->SetPosition（10?10）;

	m_pRenderWindowInteractor?=?vtkRenderWindowInteractor::New（）;
	m_pRenderWindowInteractor->SetRenderWindow（m_pRenderWindow）;

	m_pViewer->createInteractor（）;
	m_pRenderWindow->Render（）;
	m_pViewer->addCoordinateSystem（）;

	m_hLeftEvent?=?CreateEvent（NULL?FALSE?FALSE?NULL）;
	m_hRightEvent?=?CreateEvent（NULL?FALSE?FALSE?NULL）;

	m_hLeftThread?=?CreateThread（NULL?0?ThreadLeft?this?0?NULL）;
	m_hRightThread?=?CreateThread（NULL?0?ThreadRight?this?0?NULL）;
}

CbasePCL::~CbasePCL（）
{
	if?（m_pStatic）
	{
		m_pStatic.reset（）;
		m_pStatic?=?NULL;
	}
}

void?CbasePCL::SendAnalyzeDataLeft（void?*pData?int?nLen?bool?bEOF）
{
	static?int?nLeftMaxAzimuth?=?0;
	static?int?nLeftIndex?=?0;
	if?（pData?==?NULL）
	{
	}
	if?（nLen?==?554）
	{

	}
	else?if?（nLen?==?1248）
	{
		for?（int?i?=?0;?i?		{
			if?（*（（unsigned?char?*）pData?+?42?+?i?*?100）?==?0xff?&&?*（（unsigned?char?*）pData?+?43?+?i?*?100）?==?0xee）
			{
				int?nAzimuth?=?（*（（unsigned?char?*）pData?+?44?+?i?*?100）?+?*（（unsigned?char?*）pData?+?45?+?i?*?100）?*?256）;
				if?（nLeftMaxAzimuth?				{
					nLeftMaxAzimuth?=?nAzimuth;
				}
				else
				{
					RedrawPointCloudLeft（）;
					nLeftIndex?=?0;
					nLeftMaxAzimuth?=?0;
				}
				for?（int?j?=?0;?j?				{
					tagAngleData_Info?tagAngleDataInfo;
					tagAngleDataInfo.fAzimuth?=?nAzimuth*0.01;
					tagAngleDataInfo.fVertical?=?Laser_VerticalAngle[j];
					tagAngleDataInfo.fDistance?=?（*（（unsigned?char?*）pData?+?46?+?j?*?3?+?i?*?100）?+?*（（unsigned?char?*）pData?+?47?+?j?*?3?+?i?*?100）?*?256）*0.002;
					tagAngleDataInfo.nIntensity?=?*（（unsigned?char?*）pData?+?48?+?j?*?3?+?i?*?100）;
					pcl::PointXYZI?pointXYZI;
					pointXYZI.x?=?tagAngleDataInfo.fDistance*cos（tagAngleDataInfo.fVertical*M_PI?/?180）*s

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????8336??2019-03-29?21:44??PCL_Test\basePCL.cpp

?????文件???????2684??2019-03-29?20:57??PCL_Test\basePCL.h

?????文件????????387??2019-03-27?22:08??PCL_Test\Debug\PCL_Test.Build.CppClean.log

?????文件???????1300??2019-03-27?22:12??PCL_Test\Debug\PCL_Test.log

?????文件????2176008??2019-03-27?22:10??PCL_Test\Debug\PCL_Test.obj

?????文件???42991616??2019-03-27?22:08??PCL_Test\Debug\PCL_Test.pch

?????文件???????3266??2019-03-27?22:12??PCL_Test\Debug\PCL_Test.tlog\cl.command.1.tlog

?????文件????1042824??2019-03-27?22:12??PCL_Test\Debug\PCL_Test.tlog\CL.read.1.tlog

?????文件???????1744??2019-03-27?22:12??PCL_Test\Debug\PCL_Test.tlog\CL.write.1.tlog

?????文件????????153??2019-03-27?22:11??PCL_Test\Debug\PCL_Test.tlog\PCL_Test.lastbuildstate

?????文件??????????0??2019-03-27?22:11??PCL_Test\Debug\PCL_Test.tlog\unsuccessfulbuild

?????文件????2173629??2019-03-27?22:10??PCL_Test\Debug\PCL_TestDlg.obj

?????文件?????902089??2019-03-27?22:08??PCL_Test\Debug\stdafx.obj

?????文件???13175808??2019-03-27?22:12??PCL_Test\Debug\vc120.idb

?????文件???20369408??2019-03-27?22:12??PCL_Test\Debug\vc120.pdb

?????文件?????108376??2019-03-29?21:14??PCL_Test\PCL_Test.aps

?????文件???????2402??2019-03-26?20:32??PCL_Test\PCL_Test.cpp

?????文件????????455??2019-03-26?19:31??PCL_Test\PCL_Test.h

?????文件??????10528??2019-03-29?21:14??PCL_Test\PCL_Test.rc

?????文件??????22314??2019-03-27?22:21??PCL_Test\PCL_Test.vcxproj

?????文件???????2242??2019-03-26?20:25??PCL_Test\PCL_Test.vcxproj.filters

?????文件????????394??2019-03-29?21:13??PCL_Test\PCL_Test.vcxproj.user

?????文件???????8074??2019-03-29?21:53??PCL_Test\PCL_TestDlg.cpp

?????文件???????1584??2019-03-29?21:29??PCL_Test\PCL_TestDlg.h

?????文件???????4055??2019-03-26?19:31??PCL_Test\ReadMe.txt

????.......?????67777??2013-07-22?01:18??PCL_Test\res\PCL_Test.ico

?????文件????????672??2019-03-26?19:31??PCL_Test\res\PCL_Test.rc2

?????文件???????1510??2019-03-29?20:16??PCL_Test\resource.h

?????文件????????141??2019-03-26?19:31??PCL_Test\stdafx.cpp

?????文件???????1578??2019-03-26?19:31??PCL_Test\stdafx.h

............此處省略32個(gè)文件信息