LidarView源码分析（一）源码组织概览

LidarView源码组织结构

Application：界面程序。内容比较简单，主要定义了界面的主框架，然后使用ParaView相关的功能进行初始化。

LVCore：核心功能及插件。包含LidarView的数据源，滤波器等插件代码。

整个程序是使用ParaView开发模式。显示界面只是个框架，主要功能结构是使用插件的形式实现的。

源代码目录树如下：

├─Application
│  ├─Icons
│  ├─SoftwareInformation
│  └─Ui
│      ├─python
│      │  └─lidarview
│      └─Widgets
│          └─images
├─CMake
├─LVCore
│  ├─CI
│  ├─CMake
│  │  └─scripts
│  ├─Documentation
│  ├─LidarCore
│  │  ├─Common
│  │  │  ├─Ceres
│  │  │  ├─Core
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  ├─OpenCV
│  │  │  └─PCL
│  │  ├─Filters
│  │  │  ├─Calibration
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  ├─Camera
│  │  │  ├─CameraOpenCV
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  ├─Processing
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  ├─ProcessingPCL
│  │  │  ├─Segmentation
│  │  │  ├─Selection
│  │  │  ├─Temporal
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  └─Visualization
│  │  ├─IO
│  │  │  ├─CameraOpenCV
│  │  │  ├─Core
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  ├─General
│  │  │  ├─Geolocation
│  │  │  │  └─Testing
│  │  │  │      └─Cxx
│  │  │  ├─Lidar
│  │  │  └─Network
│  │  ├─Sources
│  │  ├─Testing
│  │  │  └─Core
│  │  └─Utilities
│  │      ├─PCAPTools
│  │      └─UsedModules
│  ├─Plugins
│  │  ├─DatasetIOPlugin
│  │  │  └─KittiIO
│  │  └─LidarCorePlugin
│  │      ├─Filters
│  │      ├─IO
│  │      └─Sources
│  ├─Python
│  │  ├─lidarviewcore
│  │  │  └─DTMFilter
│  │  └─lidarviewpythonplugin
│  │      └─filters
│  ├─Qt
│  │  ├─ApplicationComponents
│  │  │  └─Resources
│  │  │      ├─Icons
│  │  │      └─UI
│  │  ├─Components
│  │  │  └─Resources
│  │  │      └─UI
│  │  └─Core
│  ├─Testing
│  │  ├─Data
│  │  │  ├─Baseline
│  │  │  ├─Camera
│  │  │  │  ├─BrownConrady
│  │  │  │  └─MatchedPoints_3D_2D
│  │  │  ├─Slam
│  │  │  └─trajectories
│  │  │      ├─la_doua_dataset
│  │  │      ├─mm03
│  │  │      ├─mm04
│  │  │      └─mm05_reoptimization
│  │  └─XML
│  └─Utilities
│      ├─Animation
│      │  ├─doc
│      │  ├─examples
│      │  └─lib
│      ├─Examples
│      │  ├─pipeline_setup_helpers
│      │  └─ProcessingSample
│      └─Scripts
├─LVSuperbuild
│  ├─cmake
│  ├─Documentation
│  ├─projects
│  │  ├─apple
│  │  │  └─files
│  │  ├─scripts
│  │  ├─unix
│  │  └─win32
│  ├─pvsb
│  │  ├─.gitlab
│  │  │  └─ci
│  │  │      └─docker
│  │  │          ├─centos7
│  │  │          └─fedora36
│  │  ├─cmake
│  │  │  └─sites
│  │  ├─Documentation
│  │  │  ├─dev
│  │  │  │  └─git
│  │  │  └─img
│  │  ├─launchers
│  │  ├─projects
│  │  │  ├─apple
│  │  │  │  ├─files
│  │  │  │  └─scripts
│  │  │  ├─apple-unix
│  │  │  │  └─patches
│  │  │  ├─files
│  │  │  ├─patches
│  │  │  ├─scripts
│  │  │  │  └─apple
│  │  │  ├─unix
│  │  │  │  └─patches
│  │  │  └─win32
│  │  │      ├─patches
│  │  │      └─scripts
│  │  ├─Scripts
│  │  │  ├─docker
│  │  │  │  ├─el6
│  │  │  │  └─ubuntu
│  │  │  │      ├─development
│  │  │  │      └─runtime
│  │  │  ├─index
│  │  │  ├─singularity
│  │  │  └─sites
│  │  │      └─modulefiles
│  │  │          └─dod_hpc
│  │  │              └─catalyst
│  │  ├─superbuild
│  │  │  ├─.gitlab
│  │  │  │  └─ci
│  │  │  │      └─docker
│  │  │  │          └─fedora36
│  │  │  ├─cmake
│  │  │  │  ├─patches
│  │  │  │  │  └─ExternalProject
│  │  │  │  └─scripts
│  │  │  ├─projects
│  │  │  │  ├─apple
│  │  │  │  ├─apple-unix
│  │  │  │  │  ├─patches
│  │  │  │  │  └─scripts
│  │  │  │  ├─patches
│  │  │  │  ├─scripts
│  │  │  │  ├─unix
│  │  │  │  │  └─patches
│  │  │  │  └─win32
│  │  │  │      ├─patches
│  │  │  │      └─scripts
│  │  │  ├─selftest
│  │  │  │  └─tests
│  │  │  │      ├─mpi-check
│  │  │  │      ├─sqlite-check
│  │  │  │      └─tbb-check
│  │  │  ├─standalone-boost
│  │  │  └─standalone-qt
│  │  ├─tests
│  │  │  ├─baselines
│  │  │  ├─data
│  │  │  ├─python
│  │  │  └─xml
│  │  └─Utilities
│  │      ├─build-mesa
│  │      ├─GitSetup
│  │      └─Scripts
│  └─tests
│      ├─baselines
│      ├─data
│      ├─python
│      └─xml
└─Plugins
    ├─HesaiPlugin
    │  ├─CalibrationFiles
    │  ├─HesaiPacketInterpreters
    │  ├─HesaiSDK
    │  │  └─sources
    │  └─Utilities
    └─VelodynePlugin
        ├─CalibrationFiles
        ├─Filters
        ├─Testing
        │  └─Data
        │      ├─HDL-128
        │      │  └─GroundTruth
        │      ├─HDL-64_Dual
        │      │  └─GroundTruth
        │      ├─HDL-64_Dual-autocalib
        │      │  └─GroundTruth
        │      ├─HDL-64_Single
        │      │  └─GroundTruth
        │      ├─HDL-64_Single-autocalib
        │      │  └─GroundTruth
        │      ├─VLP-16_Dual
        │      │  └─GroundTruth
        │      ├─VLP-16_Single
        │      │  └─GroundTruth
        │      ├─VLP-32c_Dual
        │      │  └─GroundTruth
        │      └─VLP-32c_Single
        │          └─GroundTruth
        ├─Utilities
        ├─VelodynePacketInterpreters
        └─VelodynePositionPacketInterpreters

顶层的CMakeLists.txt文件比较简单，调用了一些写好的模块，然后添加子文件Application以及LVCore。

cmake_minimum_required(VERSION 3.20.3 FATAL_ERROR)
project(LidarView)

# Add path to get all the needed modules used to config Lidarview
# lidarview_cmake_dir=E:/repo_lv/lidarview/src/CMake
set(lidarview_cmake_dir "${CMAKE_CURRENT_SOURCE_DIR}/CMake")
set(lvcore_cmake_dir "${CMAKE_CURRENT_SOURCE_DIR}/LVCore/CMake")
if (NOT IS_DIRECTORY "${lvcore_cmake_dir}")
  message(FATAL_ERROR
    "Failed to find the LVCore CMake directory. Did you forget to initialize the "
    "submodule? (git submodule update --init --recursive)")
endif ()
list(APPEND CMAKE_MODULE_PATH
  "${lidarview_cmake_dir}"
  "${lvcore_cmake_dir}")

include(SetBranding) # 设置软件名称，供应商以及图标等信息
include(LidarViewSupportMacros) # 定义了两个函数，用于处理已经废弃不用的旧变量
include(LidarViewOptions) # 调用了LidarViewSupportMacros中的函数，对velodyne和hesai相关的变量进行了说明

# 检查SOFTWARE_NAME是否定义
# CMAKE_CURRENT_SOURCE_DIR和CMAKE_CURRENT_BINARY_DIR，两个变量不能相等
# 构建目录和源码目录不能相等
# CMAKE_BUILD_TYPE 如果没有定义，则赋值为RelWithDebInfo
# include(ParaViewDeterminVersion)
# include(FindLidarViewDependencies)
# include(SetupOutputDirs)
include(SetupLidarviewProject)

# Add plugins to be searched by default in LVCore CMakeLists.txt
set(lidarview_default_plugins
  VelodynePlugin
  HesaiPlugin)
set(lidarview_plugin_directories
  "${CMAKE_CURRENT_SOURCE_DIR}/Plugins")
add_subdirectory(LVCore)

add_subdirectory(Application)

LVCore

LVCore对LidarView的功能模块进行了构建，包括输入输出，滤波器，界面相关的功能模块等等。

其CMakeLists.txt中首先使用paraview_plugin_find_plugins查找插件的paraview.plugin文件，然后使用paraview_plugin_scan进行扫描，生成可用插件列表（保存在变量lidarview_plugins中），接着使用vtk_module_find_modules查找vtk模块，其结果保存在变量lidarplugin_module_files中，然后使用vtk_module_scan对vtk模块的相关源码进行查找，使用vtk_module_build进行插件构建。最后使用paraview_plugin_build构建LidarView插件。

其CMakeLists.txt文件如下：

#--------------------------------------
# Set-up lvcore test & cmake variables
#--------------------------------------
set(lidarview_cmake_destination "${CMAKE_INSTALL_LIBDIR}/cmake/lidarview")
set(lidarview_test_data_directory_input "${CMAKE_CURRENT_SOURCE_DIR}/Testing/Data")
set(lidarview_test_data_directory_output "${lidarview_test_data_directory_input}")
set(lidarview_test_output_directory "${CMAKE_BINARY_DIR}/Testing/Temporary")

#--------------------------------------
# Scan LidarView plugins
#--------------------------------------

# Retrieve default plugin and plugin directories
# from LidarView based app if existing
list(APPEND lidarview_default_plugins
  DatasetIOPlugin
  LidarCorePlugin)

list(APPEND lidarview_plugin_directories
  "${CMAKE_CURRENT_SOURCE_DIR}/Plugins/")

foreach (lidarview_default_plugin IN LISTS lidarview_default_plugins)
  set("_paraview_plugin_default_${lidarview_default_plugin}" "ON")
endforeach ()

# 查找插件文件的paraview.plugin文件
paraview_plugin_find_plugins(lidarview_plugin_files ${lidarview_plugin_directories})

# 扫描上插件，将可用插件保存在lidarview_plugins中
paraview_plugin_scan(
  PLUGIN_FILES
    ${lidarview_plugin_files}
  PROVIDES_PLUGINS  lidarview_plugins # 可用插件列表
  REQUIRES_MODULES  lidarview_plugin_required_modules)

#--------------------------------------
# Scan and find vtk modules
#--------------------------------------
list(APPEND lidarview_source_directories
  "${CMAKE_CURRENT_SOURCE_DIR}/LidarCore"
  "${CMAKE_CURRENT_SOURCE_DIR}/Qt"
)

vtk_module_find_modules(lidarplugin_module_files ${lidarview_source_directories})

vtk_module_scan(
  MODULE_FILES          ${lidarplugin_module_files}
  REQUEST_MODULES       ${lidarview_plugin_required_modules}
                        ${lidarview_client_required_modules}
  PROVIDES_MODULES      lidarview_modules
  REQUIRES_MODULES      lidarview_required_modules
  UNRECOGNIZED_MODULES  lidarview_unrecognized_modules
  WANT_BY_DEFAULT       "${LIDARVIEW_BUILD_ALL_MODULES}"
  ENABLE_TESTS          "${BUILD_TESTING}")

set(lidarview_unrecognized_lidarview_modules)
foreach (lidarview_module IN LISTS lidarview_unrecognized_modules)
  if (lidarview_module MATCHES "LidarView::")
    list(APPEND lidarview_unrecognized_lidarview_modules
      "${lidarview_module}")
  endif ()
endforeach ()

if (lidarview_unrecognized_lidarview_modules)
  list(REMOVE_ITEM lidarview_unrecognized_lidarview_modules ${lidarview_rejected_modules})
endif ()

if (lidarview_unrecognized_lidarview_modules)
  message(FATAL_ERROR
    "The following modules were requested or required, but not found: "
    "${lidarview_unrecognized_lidarview_modules}.")
endif ()

#--------------------------------------
# Build LidarView vtk modules
#--------------------------------------
vtk_module_build(
  MODULES                   ${lidarview_modules}
  INSTALL_EXPORT            LidarView
  INSTALL_HEADERS           "${LIDARVIEW_INSTALL_DEVELOPMENT_FILES}"
  HEADERS_DESTINATION       "${CMAKE_INSTALL_INCLUDEDIR}/lidarview"
  CMAKE_DESTINATION         "${lidarview_cmake_destination}"
  LICENSE_DESTINATION       "${CMAKE_INSTALL_LICENSEDIR}"
  VERSION                   "${LV_VERSION}"
  SOVERSION                 "1"
  ENABLE_WRAPPING           ON
  TEST_INPUT_DATA_DIRECTORY   "${lidarview_test_data_directory_input}"
  TEST_OUTPUT_DATA_DIRECTORY  "${lidarview_test_data_directory_output}"
  TEST_OUTPUT_DIRECTORY       "${lidarview_test_output_directory}")

#--------------------------------------
# Build LidarView plugins
#--------------------------------------
foreach (module IN LISTS lidarview_plugin_required_modules)
  if (NOT TARGET "${module}")
    message(FATAL_ERROR "Missing required module: ${module}")
  endif ()
endforeach ()

set(autoload_plugins)

foreach (lidarview_plugin IN LISTS lidarview_plugins)
  option("PARAVIEW_PLUGIN_AUTOLOAD_${lidarview_plugin}" "Autoload the ${lidarview_plugin} plugin" ON)
  mark_as_advanced("PARAVIEW_PLUGIN_AUTOLOAD_${lidarview_plugin}")

  if (PARAVIEW_PLUGIN_AUTOLOAD_${lidarview_plugin})
    list(APPEND autoload_plugins
      "${lidarview_plugin}")
  endif ()
endforeach ()

paraview_plugin_build(
  HEADERS_DESTINATION   "${CMAKE_INSTALL_INCLUDEDIR}/lidarview"
  RUNTIME_DESTINATION   "${CMAKE_INSTALL_BINDIR}"
  LIBRARY_DESTINATION   "${CMAKE_INSTALL_LIBDIR}"
  LIBRARY_SUBDIRECTORY  "lidarview/plugins"
  CMAKE_DESTINATION     "${lidarview_cmake_destination}"
  PLUGINS_FILE_NAME     "lidarview.plugins.xml"
  TARGET                LidarView::lidarview_plugins
  INSTALL_EXPORT        LidarViewPlugins
  INSTALL_HEADERS       "${LIDARVIEW_INSTALL_DEVELOPMENT_FILES}"
  TARGET_COMPONENT      "development"
  PLUGINS_COMPONENT     "plugins"
  PLUGINS               ${lidarview_plugins}
  AUTOLOAD              ${autoload_plugins})

#-----------------------------------------------------------------------------
# Python wrapping
# Simply use "import lidarview.modules" and you have acces to the wrapped c++ code
# DO NOT FOR ANY REASON USE the method GetClientSideObject() to have acces to the vtkObject directly.
#-----------------------------------------------------------------------------

vtk_module_wrap_python(
  MODULES             ${lidarview_modules}
  INSTALL_EXPORT      LidarViewPython
  INSTALL_HEADERS     "${LIDARVIEW_INSTALL_DEVELOPMENT_FILES}"
  CMAKE_DESTINATION   "${lidarview_cmake_destination}"
  LIBRARY_DESTINATION "${CMAKE_INSTALL_LIBDIR}"
  HEADERS_DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/lidarview/lvpythonmodules"
  PYTHON_PACKAGE      "lidarview.modules"
  MODULE_DESTINATION  "${LIDARVIEW_PYTHON_SITE_PACKAGES_SUFFIX}"
  TARGET              LidarView::lvpythonmodules
  DEPENDS             VTK::vtkpythonmodules
)

add_subdirectory(Python)

#--------------------------------------
# Build non-plugin/modules LidarView source code
# (This should be progressively removed)
#--------------------------------------
# Add subdirectory containing python script for animation
add_subdirectory(Utilities/Animation)
# Add sudbirectory containing python helper functions for pipeline scripting
add_subdirectory(Utilities/Examples)

#--------------------------------------
# Build Python & UI XML Testing
#--------------------------------------
if (BUILD_TESTING)
  add_subdirectory(Testing)
endif ()

Application

applicatoin中是LidarView主界面的框架。其中的Ui文件夹中定义了一些其他的界面元素。主界面程序中会使用一些LVCore中的代码，因此先编译的是LVCore。其CMakeLists.txt如下：

# Sanitize checks
if(NOT SOFTWARE_NAME OR NOT SOFTWARE_VENDOR)
  message(FATAL_ERROR "SOFTWARE_NAME or SOFTWARE_VENDOR branding not set")
endif()
if(NOT LV_VERSION_FULL)
  message(FATAL_ERROR "LV_VERSION_ variables not set")
endif()

add_subdirectory(Ui)

# Qt编译选项
set(CMAKE_AUTOMOC ON) # 将Qt功能转换成标准C++代码，如信号槽的转换
set(CMAKE_AUTORCC ON) # Qt资源文件处理
set(CMAKE_AUTOUIC ON) # Qt界面文件处理

# 添加源代码，其中Qt相关的会自动处理，因此统一作为源代码
set(source_files
  vvMainWindow.h
  vvMainWindow.ui
  vvResources.qrc
  vvMainWindow.cxx
  vvMainWindow.h
)

# Please make sure to adapt the AboutDialog text in the followin file
#  Lidar\python\lidarview\aboutDialog.py
# You also need to change:
#   - bottom_logo.png (bottom logo)

set(plugins_targets
  ParaView::paraview_plugins
  LidarView::lidarview_plugins
)

if (PARAVIEW_PLUGIN_ENABLE_LidarSlam)
  list(APPEND plugins_targets LidarSlam::paraview_wrapping)
endif ()

# paraview客户端
paraview_client_add(
  NAME              LidarView # 应用程序的名称，同时也是cmake目标变量
  NAMESPACE         "LidarView" # 为该程序提供了LidarView::LidarView的别名目标变量
  EXPORT            "LidarViewClient" # 导出目标
  VERSION           ${LV_VERSION_FULL} # 版本号
  APPLICATION_NAME  "LidarView" # 应用程序显示的名称，
  ORGANIZATION      "${SOFTWARE_VENDOR}"
  TITLE             "${SOFTWARE_NAME} ${LV_VERSION_FULL} ${LV_BUILD_PLATFORM}" # 窗口上显示的标题
  SPLASH_IMAGE      "${CMAKE_CURRENT_SOURCE_DIR}/SoftwareInformation/Splash.jpg" # 打开程序时先会显示该图片
  BUNDLE_ICON       "${CMAKE_CURRENT_SOURCE_DIR}/logo.icns" # 图标，MaxOS
  APPLICATION_ICON  "${CMAKE_CURRENT_SOURCE_DIR}/SoftwareInformation/logo.ico" # 图标

  PLUGINS_TARGETS   ${plugins_targets} # 插件的目标变量，启动时会调用这些插件的关联函数
  REQUIRED_PLUGINS  PythonQtPlugin LidarCorePlugin # 启动时加载的插件

  MAIN_WINDOW_CLASS vvMainWindow # 主窗口类的名称
  MAIN_WINDOW_INCLUDE vvMainWindow.h # 主窗口类的头文件
  SOURCES ${source_files} # 源文件
  APPLICATION_XMLS # 服务管理器配置文件
    ${CMAKE_CURRENT_SOURCE_DIR}/lqSources.xml
    ${CMAKE_CURRENT_SOURCE_DIR}/lqFilters.xml

  RUNTIME_DESTINATION ${CMAKE_INSTALL_BINDIR} # 二进制文件存放目录
  LIBRARY_DESTINATION ${CMAKE_INSTALL_LIBDIR} # 库文件存放目录
)

target_include_directories(${SOFTWARE_NAME} # SOFTWARE_NAME = LidarView
  PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}
    ${CMAKE_CURRENT_BINARY_DIR}
)

target_link_libraries(${SOFTWARE_NAME}
  PRIVATE
    LidarView::lqApplicationComponents # Common LVCore code base
    ApplicationUi
)

# Bundle Icon on Apple
if(APPLE)
  get_target_property(MACOSX_BUNDLE_ICON_FILE ${SOFTWARE_NAME} MACOSX_BUNDLE_ICON_FILE)
  install(FILES ${MACOSX_BUNDLE_ICON_FILE} DESTINATION "${LV_INSTALL_RESOURCE_DIR}") # to install tree
endif()

其中paraview_clinet_add是关键代码，确定了paraview应用程序构建的相关信息，其参数如下：

paraview_client_add(
  NAME    
  VERSION 
  SOURCES ...
  [APPLICATION_XMLS ...]
  [QCH_FILES ...]

  [MAIN_WINDOW_CLASS    ]
  [MAIN_WINDOW_INCLUDE  ]

  [PLUGINS_TARGETS  ...]
  [REQUIRED_PLUGINS ...]
  [OPTIONAL_PLUGINS ...]

  [APPLICATION_NAME ]
  [ORGANIZATION     ]
  [TITLE