code：追加代码

code/ROS2/am_rviz_plugins/.clang-format

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+BasedOnStyle: LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: None
+AlignOperands: Align
+AllowAllArgumentsOnNextLine: false
+AllowAllConstructorInitializersOnNextLine: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: Always
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Always
+AllowShortLambdasOnASingleLine: All
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterReturnType: None
+AlwaysBreakTemplateDeclarations: Yes
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterCaseLabel: false
+  AfterClass: false
+  AfterControlStatement: Never
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterUnion: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: true
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakInheritanceList: BeforeColon
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+CompactNamespaces: false
+ContinuationIndentWidth: 2
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth: 2
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: All
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PointerAlignment: Right
+ReflowComments: false
+SpaceAfterCStyleCast: true
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
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+SpacesInCStyleCastParentheses: false
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+UseTab: Never

code/ROS2/am_rviz_plugins/.gitignore

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+build
+install
+log
+.idea
+cmake-*

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.11)
+project(am_rviz_plugins)
+
+# >>> 通用配置 >>>
+# 设置优化等级
+if (NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif ()
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
+
+# 设置标准
+set(CMAKE_CXX_STANDARD 17)
+
+# 设置编译选项
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+set(CMAKE_AUTOMOC ON)
+
+# >>> 导入三方包 >>>
+find_package(Qt5 REQUIRED Core Widgets)
+find_package(OpenCV REQUIRED)
+find_package(FMT REQUIRED)
+
+# >>> 导入 ROS 包 >>>
+find_package(ament_cmake_auto REQUIRED)
+
+# >>> 查找相关的依赖 >>>
+ament_auto_find_build_dependencies()
+
+# >>> 生成自定义消息类型 >>>
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/BoundingBox.msg
+  msg/BoundingBoxArray.msg
+  msg/OverlayMenu.msg
+  DEPENDENCIES
+  geometry_msgs std_msgs
+)
+
+# >>> 构建目标文件 >>>
+ament_auto_add_library(rviz_plugins SHARED
+  src/log_panel.cpp
+  src/log_display.cpp
+  src/bounding_box_array_display.cpp
+  src/bounding_box_display.cpp
+  src/polar_grid_display.cpp
+  src/bev_controller.cpp
+)
+
+# This CMake code is only required when you want to use interfaces in the same package as the one in which they are defined.
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(rviz_plugins "${cpp_typesupport_target}")
+
+# 指定第三方库依赖（等价于 target_link_library()）
+ament_target_dependencies(rviz_plugins
+  OpenCV
+  Qt5)
+
+# 导出插件描述文件
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+# >>> 导出相关的配置文件和进行安装 >>>
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+)

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/README.md

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+# am_rviz_plugins
+
+## Task
+
+1）需求 1：基于 ROS2 C++ 创建一个名为 o3d_dashboard 的 RViz2 插件 \
+2）需求 2：该 dashboard 订阅三维目标检测的日志信息，然后显示 TP（真阳）、FP（假阳：误检、定位不准）、FN（漏检）的个数
+
+# Roadmap
+
+- [ ] 在每个预测框身上追加类别 Logo、样本信息
+    - 包含：激光点个数、类别 ID、属性（GT，FP，FN）
+- [ ] 读取 Text 文件并进行发布
+- [ ] 追加背景色和前景色的修改
+- [ ] 追加前进使用交叉线
+
+- 可视化预测框和真值框
+    - [ ] 发布预测框和真值框
+    - [ ] 统计预测框、检测框、真阳、假阳、假阴的个数（单帧的效果）
+
+## Install
+
+```bash
+$ sudo apt install libfmt-dev
+```
+
+- [ ] 添加类型不合适时的异常处理
+- [ ] 清零后数据需要更新
+- [ ] 对文本颜色进行修改
+- [ ] 追加一个 filter 功能，可以选择显示哪些类别的框

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/msg/BoundingBox.msg

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+#uint8 GT_GT=1 # 真值框（检出）
+#uint8 FN_GT=2 # 真值框（漏检）
+#uint8 TP_PRED=3 # 预测框（真阳）
+#uint8 FP_PRED=4 # 预测框（假阳）
+
+uint8 GT=1 # 真值框（检出）
+uint8 FN=2 # 真值框（漏检）
+uint8 TP=3 # 预测框（真阳）
+uint8 FP=4 # 预测框（假阳）
+
+# BoundingBox represents a oriented bounding box.
+std_msgs/Header header
+geometry_msgs/Pose pose
+geometry_msgs/Vector3 dimensions # x, y, z 分别对应长、宽、高
+float32 value # 得分
+uint32 label # 类别信息
+uint32 point_num # 激光点个数
+uint8 attr # 框的属性

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/msg/BoundingBoxArray.msg

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+# BoundingBoxArray is a list of BoundingBox.
+std_msgs/Header header
+BoundingBox[] boxes

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/msg/OverlayMenu.msg

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+int32 ACTION_SELECT=0
+int32 ACTION_CLOSE=1
+int32 action
+uint32 current_index
+string[] menus
+string title
+std_msgs/ColorRGBA bg_color
+std_msgs/ColorRGBA fg_color

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/package.xml

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+<package format="3">
+  <name>am_rviz_plugins</name>
+  <version>0.0.1</version>
+  <description>rviz2 plugins</description>
+
+  <maintainer email="[email protected]">Your Name</maintainer>
+
+  <license>TODO</license>
+
+  <!-- Build and export dependencies. -->
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_default_plugins</depend>
+  <depend>rviz_rendering</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>libopencv-dev</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>libqt5-core</exec_depend>
+  <exec_depend>libqt5-gui</exec_depend>
+  <exec_depend>libqt5-widgets</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/plugins/plugin_description.xml

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+<library path="rviz_plugins">
+  <class name="rviz_plugins/LogPanels"
+         type="rviz_plugins::LogPanels"
+         base_class_type="rviz_common::Panel">
+    <description>rviz panel for 3D object detection</description>
+  </class>
+  <class name="rviz_plugins/LogDisplay"
+         type="rviz_plugins::LogDisplay"
+         base_class_type="rviz_common::Display">
+    <description>...</description>
+  </class>
+  <class name="rviz_plugins/PolarGridDisplay"
+         type="rviz_plugins::PolarGridDisplay"
+         base_class_type="rviz_common::Display">
+    <description>...</description>
+  </class>
+  <class name="rviz_plugins/OverlayMenuDisplay"
+         type="rviz_plugins::OverlayMenuDisplay"
+         base_class_type="rviz_common::Display">
+    <description>...</description>
+  </class>
+  <class name="rviz_plugins/BoundingBoxArrayDisplay"
+         type="rviz_plugins::BoundingBoxArrayDisplay"
+         base_class_type="rviz_common::Display">
+    <description>...</description>
+  </class>
+  <class name="rviz_plugins/BoundingBoxDisplay"
+         type="rviz_plugins::BoundingBoxDisplay"
+         base_class_type="rviz_common::Display">
+    <description>...</description>
+  </class>
+  <class name="rviz_plugins/PointCloud3Display"
+         type="rviz_plugins::PointCloud3Display"
+         base_class_type="rviz_common::Display">
+    <description>...</description>
+  </class>
+  <class name="rviz_plugins/BEVController"
+         type="view_controllers::BEVController"
+         base_class_type="rviz_common::ViewController">
+    <description>...</description>
+  </class>
+</library>

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/samples/bounding_box_sample.py

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+import rclpy
+from am_rviz_plugins_msgs.msg import BoundingBox, BoundingBoxArray
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSProfile
+
+
+class MyNode(Node):
+    def __init__(self):
+        super().__init__("bounding_box_sample")
+        timer_period = 0.2  # 单位：秒
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.counter = 0
+        latching_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
+        self.pub = self.create_publisher(BoundingBoxArray, "bounding_box_array", qos_profile=latching_qos)
+
+    def timer_callback(self):
+        box_a = BoundingBox()
+        box_b = BoundingBox()
+        box_a.label = 2
+        box_b.label = 5
+        box_arr = BoundingBoxArray()
+        now = self.get_clock().now().to_msg()
+        box_a.header.stamp = now
+        box_b.header.stamp = now
+        box_arr.header.stamp = now
+        box_a.header.frame_id = "map"
+        box_b.header.frame_id = "map"
+        box_arr.header.frame_id = "map"
+        q = [0.0, 0.0, 0.0, 1.0]
+        box_a.pose.orientation.x = q[0]
+        box_a.pose.orientation.y = q[1]
+        box_a.pose.orientation.z = q[2]
+        box_a.pose.orientation.w = q[3]
+        box_b.pose.orientation.w = 1.0
+        box_b.pose.position.y = 2.0
+        box_b.dimensions.x = (self.counter % 10 + 1) * 0.1
+        box_b.dimensions.y = ((self.counter + 1) % 10 + 1) * 0.1
+        box_b.dimensions.z = ((self.counter + 2) % 10 + 1) * 0.1
+        box_a.dimensions.x = 1.0
+        box_a.dimensions.y = 1.0
+        box_a.dimensions.z = 1.0
+        box_a.value = (self.counter % 100) / 100.0
+        box_b.value = 1 - (self.counter % 100) / 100.0
+        box_arr.boxes.append(box_a)
+        box_arr.boxes.append(box_b)
+        self.pub.publish(box_arr)
+        self.counter = self.counter + 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MyNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

code/ROS2/am_rviz_plugins/src/am_rviz_plugins/samples/config/kitti.yaml

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+DatasetParam:
+  # description (mandatory): 数据集的文件夹路径
+  dataset_dir: "/home/helios/mnt/dataset/Kitti/object/"
+  # description (optional): 相对于 dataset_dir 的子目录，存放图像数据
+  img_dir: "training/image_2"
+  # description (optional): 相对于 dataset_dir 的子目录，存放点云数据
+  pc_dir: "training/velodyne"
+  # description (optional): 相对于 dataset_dir 的子目录，存放真值标签
+  gt_label_dir: "training/label_2"
+  # description (optional): 相对于 dataset_dir 的子目录，存放标定文件
+  cal_dir: "training/calib"
+  # description (optional): 相对于 dataset_dir 的子目录，存放 split 文件，
+  # 可从https://github.com/open-mmlab/OpenPCDet/tree/master/data/kitti/ImageSets 处下载
+  split_file: "ImageSets/val.txt"
+  pred_label_dir: "/home/helios/Github/shenlan memo/Pointcloud/classSix/other/kitti_eval/result_dir/data/"
+
+
+AlgorithmParam:
+  # description (optional)：直通滤波的相关参数 x_min, x_max, y_min, y_max, z_min, z_max
+  limit_range: [0.0, 70.4, -40.0, 40.0, -3.0, 1.0]
+  # description (optional): 自动还是手动触发显示数据（终端按回车键触发下一帧）True or False
+  auto_update: False
+  # description (optional): 单位（秒）
+  update_time: 0.1
+  # description (optional): 是否只显示相机视野内的点云
+  apply_fov_filter: True
+
+ROSParam:
+  # description: 发布的主题所绑定的坐标系
+  frame_id: "velodyne"
+