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# Details
Date : 2024-06-17 19:36:50
Directory d:\\Administrator\\Desktop\\空地协同头歌\\src\\Robot\\unitree_legged_go1-walk
Total : 212 files, 34127 codes, 5084 comments, 8663 blanks, all 47874 lines
[Summary](results.md) / Details / [Diff Summary](diff.md) / [Diff Details](diff-details.md)
## Files
| filename | language | code | comment | blank | total |
| :--- | :--- | ---: | ---: | ---: | ---: |
| [src/Robot/unitree_legged_go1-walk/README.md](/src/Robot/unitree_legged_go1-walk/README.md) | Markdown | 42 | 0 | 12 | 54 |
| [src/Robot/unitree_legged_go1-walk/example/example_joystick.cpp](/src/Robot/unitree_legged_go1-walk/example/example_joystick.cpp) | C++ | 64 | 3 | 16 | 83 |
| [src/Robot/unitree_legged_go1-walk/example/example_position.cpp](/src/Robot/unitree_legged_go1-walk/example/example_position.cpp) | C++ | 134 | 14 | 22 | 170 |
| [src/Robot/unitree_legged_go1-walk/example/example_torque.cpp](/src/Robot/unitree_legged_go1-walk/example/example_torque.cpp) | C++ | 77 | 4 | 16 | 97 |
| [src/Robot/unitree_legged_go1-walk/example/example_velocity.cpp](/src/Robot/unitree_legged_go1-walk/example/example_velocity.cpp) | C++ | 77 | 6 | 18 | 101 |
| [src/Robot/unitree_legged_go1-walk/example/example_walk.cpp](/src/Robot/unitree_legged_go1-walk/example/example_walk.cpp) | C++ | 169 | 42 | 15 | 226 |
| [src/Robot/unitree_legged_go1-walk/example_py/example_position.py](/src/Robot/unitree_legged_go1-walk/example_py/example_position.py) | Python | 81 | 12 | 26 | 119 |
| [src/Robot/unitree_legged_go1-walk/example_py/example_torque.py](/src/Robot/unitree_legged_go1-walk/example_py/example_torque.py) | Python | 44 | 9 | 18 | 71 |
| [src/Robot/unitree_legged_go1-walk/example_py/example_velocity.py](/src/Robot/unitree_legged_go1-walk/example_py/example_velocity.py) | Python | 38 | 4 | 17 | 59 |
| [src/Robot/unitree_legged_go1-walk/example_py/example_walk.py](/src/Robot/unitree_legged_go1-walk/example_py/example_walk.py) | Python | 76 | 14 | 30 | 120 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/a1_const.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/a1_const.h) | C++ | 11 | 3 | 4 | 18 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/aliengo_const.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/aliengo_const.h) | C++ | 11 | 3 | 4 | 18 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/b1_const.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/b1_const.h) | C++ | 11 | 3 | 2 | 16 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/comm.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/comm.h) | C++ | 172 | 27 | 30 | 229 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/go1_const.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/go1_const.h) | C++ | 11 | 3 | 4 | 18 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/joystick.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/joystick.h) | C++ | 35 | 5 | 4 | 44 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/loop.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/loop.h) | C++ | 42 | 7 | 13 | 62 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/quadruped.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/quadruped.h) | C++ | 31 | 4 | 14 | 49 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/safety.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/safety.h) | C++ | 18 | 5 | 7 | 30 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/udp.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/udp.h) | C++ | 63 | 17 | 19 | 99 |
| [src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/unitree_legged_sdk.h](/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/unitree_legged_sdk.h) | C++ | 11 | 3 | 5 | 19 |
| [src/Robot/unitree_legged_go1-walk/package.xml](/src/Robot/unitree_legged_go1-walk/package.xml) | XML | 9 | 0 | 2 | 11 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/python_interface.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/python_interface.cpp) | C++ | 190 | 9 | 22 | 221 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.appveyor.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.appveyor.yml) | YAML | 37 | 0 | 1 | 38 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.cmake-format.yaml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.cmake-format.yaml) | YAML | 31 | 28 | 15 | 74 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/CONTRIBUTING.md](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/CONTRIBUTING.md) | Markdown | 248 | 0 | 72 | 320 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/bug-report.md](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/bug-report.md) | Markdown | 19 | 0 | 10 | 29 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/config.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/config.yml) | YAML | 5 | 0 | 1 | 6 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/feature-request.md](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/feature-request.md) | Markdown | 11 | 0 | 6 | 17 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/question.md](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/question.md) | Markdown | 17 | 0 | 5 | 22 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/labeler.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/labeler.yml) | YAML | 12 | 0 | 3 | 15 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/ci.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/ci.yml) | YAML | 368 | 43 | 112 | 523 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/configure.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/configure.yml) | YAML | 63 | 6 | 16 | 85 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/format.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/format.yml) | YAML | 31 | 3 | 8 | 42 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/labeler.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/labeler.yml) | YAML | 12 | 0 | 2 | 14 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/pip.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/pip.yml) | YAML | 73 | 7 | 24 | 104 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.pre-commit-config.yaml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.pre-commit-config.yaml) | YAML | 58 | 22 | 9 | 89 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.readthedocs.yml](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.readthedocs.yml) | YAML | 3 | 0 | 1 | 4 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/README.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/README.rst) | reStructuredText | 122 | 6 | 31 | 159 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/_static/theme_overrides.css](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/_static/theme_overrides.css) | CSS | 11 | 0 | 1 | 12 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/chrono.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/chrono.rst) | reStructuredText | 62 | 2 | 18 | 82 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/custom.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/custom.rst) | reStructuredText | 68 | 5 | 19 | 92 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/eigen.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/eigen.rst) | reStructuredText | 229 | 13 | 69 | 311 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/functional.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/functional.rst) | reStructuredText | 74 | 9 | 27 | 110 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/index.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/index.rst) | reStructuredText | 31 | 2 | 11 | 44 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/overview.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/overview.rst) | reStructuredText | 136 | 8 | 22 | 166 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/stl.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/stl.rst) | reStructuredText | 158 | 18 | 65 | 241 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/classes.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/classes.rst) | reStructuredText | 856 | 96 | 310 | 1,262 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/embedding.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/embedding.rst) | reStructuredText | 168 | 14 | 80 | 262 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/exceptions.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/exceptions.rst) | reStructuredText | 224 | 14 | 61 | 299 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/functions.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/functions.rst) | reStructuredText | 367 | 47 | 148 | 562 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/misc.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/misc.rst) | reStructuredText | 214 | 27 | 97 | 338 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/index.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/index.rst) | reStructuredText | 9 | 1 | 4 | 14 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/numpy.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/numpy.rst) | reStructuredText | 299 | 26 | 112 | 437 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/object.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/object.rst) | reStructuredText | 143 | 27 | 82 | 252 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/utilities.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/utilities.rst) | reStructuredText | 91 | 13 | 41 | 145 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/smart_ptrs.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/smart_ptrs.rst) | reStructuredText | 107 | 14 | 53 | 174 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/basics.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/basics.rst) | reStructuredText | 171 | 32 | 99 | 302 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.py) | Python | 75 | 1 | 14 | 90 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.rst) | reStructuredText | 53 | 16 | 27 | 96 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/changelog.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/changelog.rst) | reStructuredText | 1,118 | 15 | 365 | 1,498 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/classes.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/classes.rst) | reStructuredText | 333 | 49 | 151 | 533 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/cmake/index.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/cmake/index.rst) | reStructuredText | 5 | 1 | 3 | 9 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/compiling.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/compiling.rst) | reStructuredText | 373 | 47 | 174 | 594 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/conf.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/conf.py) | Python | 78 | 177 | 85 | 340 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/faq.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/faq.rst) | reStructuredText | 227 | 20 | 97 | 344 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/index.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/index.rst) | reStructuredText | 27 | 6 | 11 | 44 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/installing.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/installing.rst) | reStructuredText | 62 | 9 | 33 | 104 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/limitations.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/limitations.rst) | reStructuredText | 42 | 0 | 15 | 57 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11_vs_boost_python1.svg](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11_vs_boost_python1.svg) | XML | 427 | 0 | 1 | 428 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11_vs_boost_python2.svg](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11_vs_boost_python2.svg) | XML | 427 | 0 | 1 | 428 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/reference.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/reference.rst) | reStructuredText | 41 | 30 | 47 | 118 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/release.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/release.rst) | reStructuredText | 57 | 2 | 17 | 76 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/requirements.txt](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/requirements.txt) | pip requirements | 7 | 0 | 1 | 8 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/upgrade.rst](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/upgrade.rst) | reStructuredText | 359 | 19 | 136 | 514 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/attr.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/attr.h) | C++ | 306 | 126 | 120 | 552 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/buffer_info.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/buffer_info.h) | C++ | 106 | 14 | 27 | 147 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/cast.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/cast.h) | C++ | 1,615 | 305 | 307 | 2,227 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/chrono.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/chrono.h) | C++ | 128 | 32 | 32 | 192 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/common.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/common.h) | C++ | 2 | 0 | 1 | 3 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/complex.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/complex.h) | C++ | 43 | 9 | 14 | 66 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/class.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/class.h) | C++ | 460 | 111 | 100 | 671 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/common.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/common.h) | C++ | 527 | 213 | 114 | 854 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/descr.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/descr.h) | C++ | 68 | 10 | 23 | 101 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/init.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/init.h) | C++ | 228 | 66 | 43 | 337 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/internals.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/internals.h) | C++ | 257 | 61 | 35 | 353 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/typeid.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/typeid.h) | C++ | 37 | 10 | 9 | 56 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eigen.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eigen.h) | C++ | 417 | 106 | 85 | 608 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/embed.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/embed.h) | C++ | 95 | 90 | 23 | 208 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eval.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eval.h) | C++ | 96 | 17 | 20 | 133 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__main__.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__main__.py) | Python | 37 | 2 | 11 | 50 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/_version.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/_version.py) | Python | 7 | 1 | 5 | 13 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/commands.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/commands.py) | Python | 13 | 1 | 7 | 21 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/setup_helpers.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/setup_helpers.py) | Python | 264 | 35 | 89 | 388 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.cfg](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.cfg) | Properties | 56 | 3 | 8 | 67 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.py) | Python | 77 | 14 | 25 | 116 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/conftest.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/conftest.py) | Python | 143 | 5 | 53 | 201 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/constructor_stats.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/constructor_stats.h) | C++ | 180 | 77 | 19 | 276 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/pytest.ini](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/pytest.ini) | Ini | 0 | 0 | 1 | 1 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/test_files.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/test_files.py) | Python | 208 | 3 | 49 | 260 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/pytest.ini](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/pytest.ini) | Ini | 0 | 0 | 1 | 1 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/test_setuphelper.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/test_setuphelper.py) | Python | 79 | 3 | 20 | 102 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/local_bindings.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/local_bindings.h) | C++ | 44 | 11 | 10 | 65 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/object.h](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/object.h) | C++ | 92 | 47 | 37 | 176 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pytest.ini](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pytest.ini) | Ini | 19 | 0 | 1 | 20 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/requirements.txt](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/requirements.txt) | pip requirements | 8 | 0 | 1 | 9 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.cpp) | C++ | 16 | 8 | 3 | 27 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.py) | Python | 15 | 1 | 10 | 26 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.cpp) | C++ | 165 | 18 | 32 | 215 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.py) | Python | 122 | 4 | 37 | 163 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.cpp) | C++ | 138 | 29 | 26 | 193 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.py) | Python | 307 | 10 | 76 | 393 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.cpp) | C++ | 70 | 15 | 17 | 102 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.py) | Python | 163 | 3 | 27 | 193 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.cpp) | C++ | 124 | 21 | 24 | 169 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.py) | Python | 94 | 6 | 38 | 138 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.cpp) | C++ | 46 | 25 | 14 | 85 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.py) | Python | 130 | 23 | 60 | 213 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.cpp) | C++ | 377 | 76 | 73 | 526 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/embed.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/embed.cpp) | C++ | 16 | 0 | 6 | 22 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/main.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/main.cpp) | C++ | 5 | 0 | 2 | 7 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.cpp) | C++ | 97 | 14 | 17 | 128 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.cpp) | C++ | 177 | 22 | 21 | 220 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.py) | Python | 77 | 11 | 26 | 114 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.cpp) | C++ | 91 | 19 | 18 | 128 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.cpp) | C++ | 38 | 9 | 15 | 62 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.cpp) | C++ | 218 | 69 | 41 | 328 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/catch.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/catch.cpp) | C++ | 12 | 4 | 7 | 23 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/external_module.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/external_module.cpp) | C++ | 15 | 3 | 6 | 24 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.cpp) | C++ | 200 | 31 | 54 | 285 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.cpp) | C++ | 63 | 14 | 11 | 88 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.cpp) | C++ | 64 | 11 | 17 | 92 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.py) | Python | 16 | 1 | 11 | 28 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval_call.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval_call.py) | Python | 2 | 2 | 2 | 6 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.cpp) | C++ | 165 | 32 | 28 | 225 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.cpp) | C++ | 250 | 60 | 34 | 344 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.cpp) | C++ | 40 | 8 | 7 | 55 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.cpp) | C++ | 46 | 9 | 19 | 74 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.cpp) | C++ | 90 | 35 | 18 | 143 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.cpp) | C++ | 54 | 32 | 16 | 102 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.cpp) | C++ | 297 | 40 | 42 | 379 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.cpp) | C++ | 74 | 16 | 12 | 102 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.cpp) | C++ | 145 | 43 | 31 | 219 |
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| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.cpp](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.cpp) | C++ | 340 | 48 | 51 | 439 |
| [src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.py](/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.py) | Python | 379 | 21 | 96 | 496 |
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126 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_buffers.cpp C++ 0 0 165 0 0 0 0 0 0 0 0 0 18 32 215
127 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_buffers.py Python 0 122 0 0 0 0 0 0 0 0 0 0 4 37 163
128 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_builtin_casters.cpp C++ 0 0 138 0 0 0 0 0 0 0 0 0 29 26 193
129 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_builtin_casters.py Python 0 307 0 0 0 0 0 0 0 0 0 0 10 76 393
130 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_call_policies.cpp C++ 0 0 70 0 0 0 0 0 0 0 0 0 15 17 102
131 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_call_policies.py Python 0 163 0 0 0 0 0 0 0 0 0 0 3 27 193
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135 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_chrono.py Python 0 130 0 0 0 0 0 0 0 0 0 0 23 60 213
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154 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_embed\test_interpreter.py Python 0 6 0 0 0 0 0 0 0 0 0 0 1 4 11
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158 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eval.py Python 0 16 0 0 0 0 0 0 0 0 0 0 1 11 28
159 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eval_call.py Python 0 2 0 0 0 0 0 0 0 0 0 0 2 2 6
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161 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_exceptions.py Python 0 123 0 0 0 0 0 0 0 0 0 0 18 51 192
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163 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_factory_constructors.py Python 0 375 0 0 0 0 0 0 0 0 0 0 9 95 479
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165 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_gil_scoped.py Python 0 62 0 0 0 0 0 0 0 0 0 0 6 24 92
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175 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_modules.py Python 0 54 0 0 0 0 0 0 0 0 0 0 3 17 74
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177 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_multiple_inheritance.py Python 0 258 0 0 0 0 0 0 0 0 0 0 13 86 357
178 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_array.cpp C++ 0 0 340 0 0 0 0 0 0 0 0 0 48 51 439
179 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_array.py Python 0 379 0 0 0 0 0 0 0 0 0 0 21 96 496
180 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_dtypes.cpp C++ 0 0 408 0 0 0 0 0 0 0 0 0 34 58 500
181 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_dtypes.py Python 0 281 0 0 0 0 0 0 0 0 0 0 10 76 367
182 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_vectorize.cpp C++ 0 0 58 0 0 0 0 0 0 0 0 0 22 14 94
183 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_vectorize.py Python 0 181 0 0 0 0 0 0 0 0 0 0 2 23 206
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185 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_opaque_types.py Python 0 41 0 0 0 0 0 0 0 0 0 0 1 14 56
186 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_operator_overloading.cpp C++ 0 0 167 0 0 0 0 0 0 0 0 0 31 29 227
187 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_operator_overloading.py Python 0 118 0 0 0 0 0 0 0 0 0 0 3 25 146
188 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pickling.cpp C++ 0 0 94 0 0 0 0 0 0 0 0 0 19 18 131
189 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pickling.py Python 0 34 0 0 0 0 0 0 0 0 0 0 1 12 47
190 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pytypes.cpp C++ 0 0 328 0 0 0 0 0 0 0 0 0 27 56 411
191 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pytypes.py Python 0 326 0 0 0 0 0 0 0 0 0 0 13 88 427
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194 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_smart_ptr.cpp C++ 0 0 284 0 0 0 0 0 0 0 0 0 50 37 371
195 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_smart_ptr.py Python 0 224 0 0 0 0 0 0 0 0 0 0 12 56 292
196 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl.cpp C++ 0 0 241 0 0 0 0 0 0 0 0 0 37 47 325
197 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl.py Python 0 185 0 0 0 0 0 0 0 0 0 0 3 65 253
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199 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl_binders.py Python 0 202 0 0 0 0 0 0 0 0 0 0 16 68 286
200 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_tagbased_polymorphic.cpp C++ 0 0 107 0 0 0 0 0 0 0 0 0 15 21 143
201 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_tagbased_polymorphic.py Python 0 18 0 0 0 0 0 0 0 0 0 0 1 3 22
202 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_union.cpp C++ 0 0 11 0 0 0 0 0 0 0 0 0 8 4 23
203 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_union.py Python 0 5 0 0 0 0 0 0 0 0 0 0 1 4 10
204 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_virtual_functions.cpp C++ 0 0 352 0 0 0 0 0 0 0 0 0 86 61 499
205 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_virtual_functions.py Python 0 290 0 0 0 0 0 0 0 0 0 0 16 75 381
206 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\FindCatch.cmake CMake 0 0 0 0 0 0 0 63 0 0 0 0 0 8 71
207 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\FindEigen3.cmake CMake 0 0 0 0 0 0 0 67 0 0 0 0 0 17 84
208 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\FindPythonLibsNew.cmake CMake 0 0 0 0 0 0 0 229 0 0 0 0 0 27 256
209 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\check-style.sh Shell Script 0 0 0 0 0 0 0 0 26 0 0 0 13 6 45
210 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\libsize.py Python 0 24 0 0 0 0 0 0 0 0 0 0 5 10 39
211 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\pybind11Common.cmake CMake 0 0 0 0 0 0 0 329 0 0 0 0 0 57 386
212 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\pybind11NewTools.cmake CMake 0 0 0 0 0 0 0 205 0 0 0 0 0 38 243
213 d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\pybind11Tools.cmake CMake 0 0 0 0 0 0 0 169 0 0 0 0 0 28 197
214 Total - 863 7457 17167 337 693 6421 56 1062 26 11 15 19 5084 8663 47874

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# Summary
Date : 2024-06-17 19:36:50
Directory d:\\Administrator\\Desktop\\空地协同头歌\\src\\Robot\\unitree_legged_go1-walk
Total : 212 files, 34127 codes, 5084 comments, 8663 blanks, all 47874 lines
Summary / [Details](details.md) / [Diff Summary](diff.md) / [Diff Details](diff-details.md)
## Languages
| language | files | code | comment | blank | total |
| :--- | ---: | ---: | ---: | ---: | ---: |
| C++ | 90 | 17,167 | 3,720 | 3,398 | 24,285 |
| Python | 57 | 7,457 | 631 | 2,253 | 10,341 |
| reStructuredText | 32 | 6,421 | 608 | 2,516 | 9,545 |
| CMake | 6 | 1,062 | 0 | 175 | 1,237 |
| XML | 3 | 863 | 0 | 4 | 867 |
| YAML | 11 | 693 | 109 | 192 | 994 |
| Markdown | 5 | 337 | 0 | 105 | 442 |
| Properties | 1 | 56 | 3 | 8 | 67 |
| Shell Script | 1 | 26 | 13 | 6 | 45 |
| Ini | 3 | 19 | 0 | 3 | 22 |
| pip requirements | 2 | 15 | 0 | 2 | 17 |
| CSS | 1 | 11 | 0 | 1 | 12 |
## Directories
| path | files | code | comment | blank | total |
| :--- | ---: | ---: | ---: | ---: | ---: |
| . | 212 | 34,127 | 5,084 | 8,663 | 47,874 |
| . (Files) | 2 | 51 | 0 | 14 | 65 |
| example | 5 | 521 | 69 | 87 | 677 |
| example_py | 4 | 239 | 39 | 91 | 369 |
| include | 11 | 416 | 80 | 106 | 602 |
| include\\unitree_legged_sdk | 11 | 416 | 80 | 106 | 602 |
| python_wrapper | 190 | 32,900 | 4,896 | 8,365 | 46,161 |
| python_wrapper (Files) | 1 | 190 | 9 | 22 | 221 |
| python_wrapper\\third-party | 189 | 32,710 | 4,887 | 8,343 | 45,940 |
| python_wrapper\\third-party\\pybind11 | 189 | 32,710 | 4,887 | 8,343 | 45,940 |
| python_wrapper\\third-party\\pybind11 (Files) | 7 | 384 | 73 | 90 | 547 |
| python_wrapper\\third-party\\pybind11\\.github | 11 | 859 | 59 | 259 | 1,177 |
| python_wrapper\\third-party\\pybind11\\.github (Files) | 2 | 260 | 0 | 75 | 335 |
| python_wrapper\\third-party\\pybind11\\.github\\ISSUE_TEMPLATE | 4 | 52 | 0 | 22 | 74 |
| python_wrapper\\third-party\\pybind11\\.github\\workflows | 5 | 547 | 59 | 162 | 768 |
| python_wrapper\\third-party\\pybind11\\docs | 37 | 7,324 | 780 | 2,588 | 10,692 |
| python_wrapper\\third-party\\pybind11\\docs (Files) | 17 | 3,877 | 423 | 1,274 | 5,574 |
| python_wrapper\\third-party\\pybind11\\docs\\_static | 1 | 11 | 0 | 1 | 12 |
| python_wrapper\\third-party\\pybind11\\docs\\advanced | 18 | 3,431 | 356 | 1,310 | 5,097 |
| python_wrapper\\third-party\\pybind11\\docs\\advanced (Files) | 6 | 1,936 | 212 | 749 | 2,897 |
| python_wrapper\\third-party\\pybind11\\docs\\advanced\\cast | 8 | 953 | 77 | 322 | 1,352 |
| python_wrapper\\third-party\\pybind11\\docs\\advanced\\pycpp | 4 | 542 | 67 | 239 | 848 |
| python_wrapper\\third-party\\pybind11\\docs\\cmake | 1 | 5 | 1 | 3 | 9 |
| python_wrapper\\third-party\\pybind11\\include | 24 | 9,605 | 2,233 | 1,975 | 13,813 |
| python_wrapper\\third-party\\pybind11\\include\\pybind11 | 24 | 9,605 | 2,233 | 1,975 | 13,813 |
| python_wrapper\\third-party\\pybind11\\include\\pybind11 (Files) | 18 | 8,028 | 1,762 | 1,651 | 11,441 |
| python_wrapper\\third-party\\pybind11\\include\\pybind11\\detail | 6 | 1,577 | 471 | 324 | 2,372 |
| python_wrapper\\third-party\\pybind11\\pybind11 | 5 | 329 | 40 | 116 | 485 |
| python_wrapper\\third-party\\pybind11\\tests | 97 | 13,097 | 1,684 | 3,124 | 17,905 |
| python_wrapper\\third-party\\pybind11\\tests (Files) | 86 | 12,552 | 1,638 | 2,972 | 17,162 |
| python_wrapper\\third-party\\pybind11\\tests\\extra_python_package | 2 | 208 | 3 | 50 | 261 |
| python_wrapper\\third-party\\pybind11\\tests\\extra_setuptools | 2 | 79 | 3 | 21 | 103 |
| python_wrapper\\third-party\\pybind11\\tests\\test_cmake_build | 3 | 25 | 1 | 10 | 36 |
| python_wrapper\\third-party\\pybind11\\tests\\test_embed | 4 | 233 | 39 | 71 | 343 |
| python_wrapper\\third-party\\pybind11\\tools | 8 | 1,112 | 18 | 191 | 1,321 |
Summary / [Details](details.md) / [Diff Summary](diff.md) / [Diff Details](diff-details.md)

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Date : 2024-06-17 19:36:50
Directory : d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk
Total : 212 files, 34127 codes, 5084 comments, 8663 blanks, all 47874 lines
Languages
+------------------+------------+------------+------------+------------+------------+
| language | files | code | comment | blank | total |
+------------------+------------+------------+------------+------------+------------+
| C++ | 90 | 17,167 | 3,720 | 3,398 | 24,285 |
| Python | 57 | 7,457 | 631 | 2,253 | 10,341 |
| reStructuredText | 32 | 6,421 | 608 | 2,516 | 9,545 |
| CMake | 6 | 1,062 | 0 | 175 | 1,237 |
| XML | 3 | 863 | 0 | 4 | 867 |
| YAML | 11 | 693 | 109 | 192 | 994 |
| Markdown | 5 | 337 | 0 | 105 | 442 |
| Properties | 1 | 56 | 3 | 8 | 67 |
| Shell Script | 1 | 26 | 13 | 6 | 45 |
| Ini | 3 | 19 | 0 | 3 | 22 |
| pip requirements | 2 | 15 | 0 | 2 | 17 |
| CSS | 1 | 11 | 0 | 1 | 12 |
+------------------+------------+------------+------------+------------+------------+
Directories
+--------------------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
| path | files | code | comment | blank | total |
+--------------------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
| . | 212 | 34,127 | 5,084 | 8,663 | 47,874 |
| . (Files) | 2 | 51 | 0 | 14 | 65 |
| example | 5 | 521 | 69 | 87 | 677 |
| example_py | 4 | 239 | 39 | 91 | 369 |
| include | 11 | 416 | 80 | 106 | 602 |
| include\unitree_legged_sdk | 11 | 416 | 80 | 106 | 602 |
| python_wrapper | 190 | 32,900 | 4,896 | 8,365 | 46,161 |
| python_wrapper (Files) | 1 | 190 | 9 | 22 | 221 |
| python_wrapper\third-party | 189 | 32,710 | 4,887 | 8,343 | 45,940 |
| python_wrapper\third-party\pybind11 | 189 | 32,710 | 4,887 | 8,343 | 45,940 |
| python_wrapper\third-party\pybind11 (Files) | 7 | 384 | 73 | 90 | 547 |
| python_wrapper\third-party\pybind11\.github | 11 | 859 | 59 | 259 | 1,177 |
| python_wrapper\third-party\pybind11\.github (Files) | 2 | 260 | 0 | 75 | 335 |
| python_wrapper\third-party\pybind11\.github\ISSUE_TEMPLATE | 4 | 52 | 0 | 22 | 74 |
| python_wrapper\third-party\pybind11\.github\workflows | 5 | 547 | 59 | 162 | 768 |
| python_wrapper\third-party\pybind11\docs | 37 | 7,324 | 780 | 2,588 | 10,692 |
| python_wrapper\third-party\pybind11\docs (Files) | 17 | 3,877 | 423 | 1,274 | 5,574 |
| python_wrapper\third-party\pybind11\docs\_static | 1 | 11 | 0 | 1 | 12 |
| python_wrapper\third-party\pybind11\docs\advanced | 18 | 3,431 | 356 | 1,310 | 5,097 |
| python_wrapper\third-party\pybind11\docs\advanced (Files) | 6 | 1,936 | 212 | 749 | 2,897 |
| python_wrapper\third-party\pybind11\docs\advanced\cast | 8 | 953 | 77 | 322 | 1,352 |
| python_wrapper\third-party\pybind11\docs\advanced\pycpp | 4 | 542 | 67 | 239 | 848 |
| python_wrapper\third-party\pybind11\docs\cmake | 1 | 5 | 1 | 3 | 9 |
| python_wrapper\third-party\pybind11\include | 24 | 9,605 | 2,233 | 1,975 | 13,813 |
| python_wrapper\third-party\pybind11\include\pybind11 | 24 | 9,605 | 2,233 | 1,975 | 13,813 |
| python_wrapper\third-party\pybind11\include\pybind11 (Files) | 18 | 8,028 | 1,762 | 1,651 | 11,441 |
| python_wrapper\third-party\pybind11\include\pybind11\detail | 6 | 1,577 | 471 | 324 | 2,372 |
| python_wrapper\third-party\pybind11\pybind11 | 5 | 329 | 40 | 116 | 485 |
| python_wrapper\third-party\pybind11\tests | 97 | 13,097 | 1,684 | 3,124 | 17,905 |
| python_wrapper\third-party\pybind11\tests (Files) | 86 | 12,552 | 1,638 | 2,972 | 17,162 |
| python_wrapper\third-party\pybind11\tests\extra_python_package | 2 | 208 | 3 | 50 | 261 |
| python_wrapper\third-party\pybind11\tests\extra_setuptools | 2 | 79 | 3 | 21 | 103 |
| python_wrapper\third-party\pybind11\tests\test_cmake_build | 3 | 25 | 1 | 10 | 36 |
| python_wrapper\third-party\pybind11\tests\test_embed | 4 | 233 | 39 | 71 | 343 |
| python_wrapper\third-party\pybind11\tools | 8 | 1,112 | 18 | 191 | 1,321 |
+--------------------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
Files
+--------------------------------------------------------------------------------------------------------------------------------------------------+------------------+------------+------------+------------+------------+
| filename | language | code | comment | blank | total |
+--------------------------------------------------------------------------------------------------------------------------------------------------+------------------+------------+------------+------------+------------+
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| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\example\example_torque.cpp | C++ | 77 | 4 | 16 | 97 |
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| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\example_py\example_position.py | Python | 81 | 12 | 26 | 119 |
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| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\include\pybind11\pybind11.h | C++ | 1,719 | 356 | 281 | 2,356 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\include\pybind11\pytypes.h | C++ | 1,133 | 302 | 221 | 1,656 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\include\pybind11\stl.h | C++ | 303 | 26 | 60 | 389 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\include\pybind11\stl_bind.h | C++ | 495 | 53 | 114 | 662 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\pybind11\__init__.py | Python | 8 | 1 | 4 | 13 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\pybind11\__main__.py | Python | 37 | 2 | 11 | 50 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\pybind11\_version.py | Python | 7 | 1 | 5 | 13 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\pybind11\commands.py | Python | 13 | 1 | 7 | 21 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\pybind11\setup_helpers.py | Python | 264 | 35 | 89 | 388 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\setup.cfg | Properties | 56 | 3 | 8 | 67 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\setup.py | Python | 77 | 14 | 25 | 116 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\conftest.py | Python | 143 | 5 | 53 | 201 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\constructor_stats.h | C++ | 180 | 77 | 19 | 276 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\cross_module_gil_utils.cpp | C++ | 48 | 15 | 11 | 74 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\env.py | Python | 9 | 1 | 5 | 15 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\extra_python_package\pytest.ini | Ini | 0 | 0 | 1 | 1 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\extra_python_package\test_files.py | Python | 208 | 3 | 49 | 260 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\extra_setuptools\pytest.ini | Ini | 0 | 0 | 1 | 1 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\extra_setuptools\test_setuphelper.py | Python | 79 | 3 | 20 | 102 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\local_bindings.h | C++ | 44 | 11 | 10 | 65 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\object.h | C++ | 92 | 47 | 37 | 176 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\pybind11_cross_module_tests.cpp | C++ | 60 | 43 | 21 | 124 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\pybind11_tests.cpp | C++ | 55 | 23 | 14 | 92 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\pybind11_tests.h | C++ | 51 | 7 | 14 | 72 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\pytest.ini | Ini | 19 | 0 | 1 | 20 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\requirements.txt | pip requirements | 8 | 0 | 1 | 9 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_async.cpp | C++ | 16 | 8 | 3 | 27 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_async.py | Python | 15 | 1 | 10 | 26 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_buffers.cpp | C++ | 165 | 18 | 32 | 215 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_buffers.py | Python | 122 | 4 | 37 | 163 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_builtin_casters.cpp | C++ | 138 | 29 | 26 | 193 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_builtin_casters.py | Python | 307 | 10 | 76 | 393 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_call_policies.cpp | C++ | 70 | 15 | 17 | 102 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_call_policies.py | Python | 163 | 3 | 27 | 193 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_callbacks.cpp | C++ | 124 | 21 | 24 | 169 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_callbacks.py | Python | 94 | 6 | 38 | 138 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_chrono.cpp | C++ | 46 | 25 | 14 | 85 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_chrono.py | Python | 130 | 23 | 60 | 213 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_class.cpp | C++ | 377 | 76 | 73 | 526 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_class.py | Python | 295 | 25 | 101 | 421 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_cmake_build\embed.cpp | C++ | 16 | 0 | 6 | 22 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_cmake_build\main.cpp | C++ | 5 | 0 | 2 | 7 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_cmake_build\test.py | Python | 4 | 1 | 2 | 7 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_constants_and_functions.cpp | C++ | 97 | 14 | 17 | 128 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_constants_and_functions.py | Python | 30 | 1 | 12 | 43 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_copy_move.cpp | C++ | 177 | 22 | 21 | 220 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_copy_move.py | Python | 77 | 11 | 26 | 114 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_custom_type_casters.cpp | C++ | 91 | 19 | 18 | 128 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_custom_type_casters.py | Python | 71 | 5 | 15 | 91 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_docstring_options.cpp | C++ | 38 | 9 | 15 | 62 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_docstring_options.py | Python | 16 | 11 | 13 | 40 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eigen.cpp | C++ | 218 | 69 | 41 | 328 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eigen.py | Python | 544 | 28 | 126 | 698 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_embed\catch.cpp | C++ | 12 | 4 | 7 | 23 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_embed\external_module.cpp | C++ | 15 | 3 | 6 | 24 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_embed\test_interpreter.cpp | C++ | 200 | 31 | 54 | 285 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_embed\test_interpreter.py | Python | 6 | 1 | 4 | 11 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_enum.cpp | C++ | 63 | 14 | 11 | 88 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_enum.py | Python | 151 | 20 | 42 | 213 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eval.cpp | C++ | 64 | 11 | 17 | 92 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eval.py | Python | 16 | 1 | 11 | 28 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_eval_call.py | Python | 2 | 2 | 2 | 6 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_exceptions.cpp | C++ | 165 | 32 | 28 | 225 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_exceptions.py | Python | 123 | 18 | 51 | 192 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_factory_constructors.cpp | C++ | 250 | 60 | 34 | 344 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_factory_constructors.py | Python | 375 | 9 | 95 | 479 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_gil_scoped.cpp | C++ | 40 | 8 | 7 | 55 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_gil_scoped.py | Python | 62 | 6 | 24 | 92 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_iostream.cpp | C++ | 46 | 9 | 19 | 74 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_iostream.py | Python | 168 | 6 | 42 | 216 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_kwargs_and_defaults.cpp | C++ | 90 | 35 | 18 | 143 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_kwargs_and_defaults.py | Python | 176 | 8 | 57 | 241 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_local_bindings.cpp | C++ | 54 | 32 | 16 | 102 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_local_bindings.py | Python | 165 | 11 | 55 | 231 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_methods_and_attributes.cpp | C++ | 297 | 40 | 42 | 379 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_methods_and_attributes.py | Python | 347 | 14 | 102 | 463 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_modules.cpp | C++ | 74 | 16 | 12 | 102 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_modules.py | Python | 54 | 3 | 17 | 74 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_multiple_inheritance.cpp | C++ | 145 | 43 | 31 | 219 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_multiple_inheritance.py | Python | 258 | 13 | 86 | 357 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_array.cpp | C++ | 340 | 48 | 51 | 439 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_array.py | Python | 379 | 21 | 96 | 496 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_dtypes.cpp | C++ | 408 | 34 | 58 | 500 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_dtypes.py | Python | 281 | 10 | 76 | 367 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_vectorize.cpp | C++ | 58 | 22 | 14 | 94 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_numpy_vectorize.py | Python | 181 | 2 | 23 | 206 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_opaque_types.cpp | C++ | 47 | 17 | 10 | 74 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_opaque_types.py | Python | 41 | 1 | 14 | 56 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_operator_overloading.cpp | C++ | 167 | 31 | 29 | 227 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_operator_overloading.py | Python | 118 | 3 | 25 | 146 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pickling.cpp | C++ | 94 | 19 | 18 | 131 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pickling.py | Python | 34 | 1 | 12 | 47 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pytypes.cpp | C++ | 328 | 27 | 56 | 411 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_pytypes.py | Python | 326 | 13 | 88 | 427 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_sequences_and_iterators.cpp | C++ | 284 | 30 | 45 | 359 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_sequences_and_iterators.py | Python | 141 | 2 | 49 | 192 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_smart_ptr.cpp | C++ | 284 | 50 | 37 | 371 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_smart_ptr.py | Python | 224 | 12 | 56 | 292 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl.cpp | C++ | 241 | 37 | 47 | 325 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl.py | Python | 185 | 3 | 65 | 253 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl_binders.cpp | C++ | 91 | 19 | 20 | 130 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_stl_binders.py | Python | 202 | 16 | 68 | 286 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_tagbased_polymorphic.cpp | C++ | 107 | 15 | 21 | 143 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_tagbased_polymorphic.py | Python | 18 | 1 | 3 | 22 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_union.cpp | C++ | 11 | 8 | 4 | 23 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_union.py | Python | 5 | 1 | 4 | 10 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_virtual_functions.cpp | C++ | 352 | 86 | 61 | 499 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tests\test_virtual_functions.py | Python | 290 | 16 | 75 | 381 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\FindCatch.cmake | CMake | 63 | 0 | 8 | 71 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\FindEigen3.cmake | CMake | 67 | 0 | 17 | 84 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\FindPythonLibsNew.cmake | CMake | 229 | 0 | 27 | 256 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\check-style.sh | Shell Script | 26 | 13 | 6 | 45 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\libsize.py | Python | 24 | 5 | 10 | 39 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\pybind11Common.cmake | CMake | 329 | 0 | 57 | 386 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\pybind11NewTools.cmake | CMake | 205 | 0 | 38 | 243 |
| d:\Administrator\Desktop\空地协同头歌\src\Robot\unitree_legged_go1-walk\python_wrapper\third-party\pybind11\tools\pybind11Tools.cmake | CMake | 169 | 0 | 28 | 197 |
| Total | | 34,127 | 5,084 | 8,663 | 47,874 |
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# Details
Date : 2024-06-17 19:31:57
Directory d:\\Administrator\\Desktop\\go1_guide-master
Total : 269 files, 18894 codes, 2357 comments, 2385 blanks, all 23636 lines
[Summary](results.md) / Details / [Diff Summary](diff.md) / [Diff Details](diff-details.md)
## Files
| filename | language | code | comment | blank | total |
| :--- | :--- | ---: | ---: | ---: | ---: |
| [core/Camera.py](/core/Camera.py) | Python | 42 | 43 | 27 | 112 |
| [core/PID.py](/core/PID.py) | Python | 38 | 1 | 8 | 47 |
| [core/capture.py](/core/capture.py) | Python | 49 | 1 | 15 | 65 |
| [core/color_detection.py](/core/color_detection.py) | Python | 27 | 2 | 11 | 40 |
| [core/getcolor.py](/core/getcolor.py) | Python | 12 | 0 | 2 | 14 |
| [core/picture_processing.py](/core/picture_processing.py) | Python | 24 | 83 | 21 | 128 |
| [core/robot_connector.py](/core/robot_connector.py) | Python | 13 | 0 | 5 | 18 |
| [core/shot.py](/core/shot.py) | Python | 12 | 8 | 6 | 26 |
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| [nano/UnitreecameraSDK/examples/example_getCalibParamsFile.cc](/nano/UnitreecameraSDK/examples/example_getCalibParamsFile.cc) | C++ | 14 | 9 | 5 | 28 |
| [nano/UnitreecameraSDK/examples/example_getDepthFrame.cc](/nano/UnitreecameraSDK/examples/example_getDepthFrame.cc) | C++ | 26 | 9 | 8 | 43 |
| [nano/UnitreecameraSDK/examples/example_getPointCloud.cc](/nano/UnitreecameraSDK/examples/example_getPointCloud.cc) | C++ | 73 | 9 | 16 | 98 |
| [nano/UnitreecameraSDK/examples/example_getRawFrame.cc](/nano/UnitreecameraSDK/examples/example_getRawFrame.cc) | C++ | 41 | 9 | 14 | 64 |
| [nano/UnitreecameraSDK/examples/example_getRectFrame.cc](/nano/UnitreecameraSDK/examples/example_getRectFrame.cc) | C++ | 39 | 11 | 11 | 61 |
| [nano/UnitreecameraSDK/examples/example_getimagetrans.cc](/nano/UnitreecameraSDK/examples/example_getimagetrans.cc) | C++ | 28 | 28 | 7 | 63 |
| [nano/UnitreecameraSDK/examples/example_putImagetrans.cc](/nano/UnitreecameraSDK/examples/example_putImagetrans.cc) | C++ | 24 | 85 | 10 | 119 |
| [nano/UnitreecameraSDK/examples/example_share.cc](/nano/UnitreecameraSDK/examples/example_share.cc) | C++ | 24 | 0 | 5 | 29 |
| [nano/UnitreecameraSDK/examples/glViewer/glwindow.hpp](/nano/UnitreecameraSDK/examples/glViewer/glwindow.hpp) | C++ | 100 | 2 | 23 | 125 |
| [nano/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp](/nano/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp) | C++ | 436 | 7 | 76 | 519 |
| [nano/UnitreecameraSDK/examples/glViewer/scenewindow.cpp](/nano/UnitreecameraSDK/examples/glViewer/scenewindow.cpp) | C++ | 139 | 4 | 39 | 182 |
| [nano/UnitreecameraSDK/examples/glViewer/scenewindow.hpp](/nano/UnitreecameraSDK/examples/glViewer/scenewindow.hpp) | C++ | 35 | 1 | 14 | 50 |
| [nano/UnitreecameraSDK/include/StereoCameraCommon.hpp](/nano/UnitreecameraSDK/include/StereoCameraCommon.hpp) | C++ | 99 | 534 | 27 | 660 |
| [nano/UnitreecameraSDK/include/SystemLog.hpp](/nano/UnitreecameraSDK/include/SystemLog.hpp) | C++ | 26 | 135 | 8 | 169 |
| [nano/UnitreecameraSDK/include/UnitreeCameraSDK.hpp](/nano/UnitreecameraSDK/include/UnitreeCameraSDK.hpp) | C++ | 23 | 126 | 10 | 159 |
| [nano/UnitreecameraSDK/src/getimagetrans.cc](/nano/UnitreecameraSDK/src/getimagetrans.cc) | C++ | 28 | 16 | 4 | 48 |
| [nano/UnitreecameraSDK/src/putimagetrans.cc](/nano/UnitreecameraSDK/src/putimagetrans.cc) | C++ | 58 | 37 | 14 | 109 |
| [nano/UnitreecameraSDK/stereo_camera_config.yaml](/nano/UnitreecameraSDK/stereo_camera_config.yaml) | YAML | 66 | 12 | 0 | 78 |
| [nano/UnitreecameraSDK/trans_rect_config.yaml](/nano/UnitreecameraSDK/trans_rect_config.yaml) | YAML | 66 | 13 | 1 | 80 |
| [nano/UnitreecameraSDK/trans_rect_config_0.yaml](/nano/UnitreecameraSDK/trans_rect_config_0.yaml) | YAML | 66 | 12 | 0 | 78 |
| [nano/UnitreecameraSDK/trans_rect_config_1.yaml](/nano/UnitreecameraSDK/trans_rect_config_1.yaml) | YAML | 66 | 12 | 0 | 78 |
| [nano/kill.sh](/nano/kill.sh) | Shell Script | 4 | 1 | 2 | 7 |
| [nano/picture_processing.py](/nano/picture_processing.py) | Python | 24 | 83 | 21 | 128 |
| [nano/start.sh](/nano/start.sh) | Shell Script | 5 | 2 | 3 | 10 |
| [nano/templates/index.html](/nano/templates/index.html) | HTML | 12 | 0 | 2 | 14 |
| [nano/trans_rect_config_0.yaml](/nano/trans_rect_config_0.yaml) | YAML | 66 | 12 | 1 | 79 |
| [nano/trans_rect_config_1.yaml](/nano/trans_rect_config_1.yaml) | YAML | 66 | 12 | 1 | 79 |
| [nano/webcamera.py](/nano/webcamera.py) | Python | 49 | 2 | 15 | 66 |
| [predict.py](/predict.py) | Python | 208 | 15 | 55 | 278 |
| [raspberrypi/server_robotcontrol.py](/raspberrypi/server_robotcontrol.py) | Python | 67 | 1 | 14 | 82 |
| [raspberrypi/start.sh](/raspberrypi/start.sh) | Shell Script | 1 | 0 | 1 | 2 |
| [raspberrypi/unitree.py](/raspberrypi/unitree.py) | Python | 21 | 0 | 6 | 27 |
| [raspberrypi/unitree_legged_sdk/README.md](/raspberrypi/unitree_legged_sdk/README.md) | Markdown | 29 | 0 | 9 | 38 |
| [raspberrypi/unitree_legged_sdk/example/example_joystick.cpp](/raspberrypi/unitree_legged_sdk/example/example_joystick.cpp) | C++ | 62 | 5 | 16 | 83 |
| [raspberrypi/unitree_legged_sdk/example/example_position.cpp](/raspberrypi/unitree_legged_sdk/example/example_position.cpp) | C++ | 122 | 17 | 25 | 164 |
| [raspberrypi/unitree_legged_sdk/example/example_torque.cpp](/raspberrypi/unitree_legged_sdk/example/example_torque.cpp) | C++ | 71 | 8 | 16 | 95 |
| [raspberrypi/unitree_legged_sdk/example/example_velocity.cpp](/raspberrypi/unitree_legged_sdk/example/example_velocity.cpp) | C++ | 72 | 8 | 18 | 98 |
| [raspberrypi/unitree_legged_sdk/example/example_walk.cpp](/raspberrypi/unitree_legged_sdk/example/example_walk.cpp) | C++ | 134 | 6 | 17 | 157 |
| [raspberrypi/unitree_legged_sdk/example_py/example_position.py](/raspberrypi/unitree_legged_sdk/example_py/example_position.py) | Python | 81 | 12 | 26 | 119 |
| [raspberrypi/unitree_legged_sdk/example_py/example_torque.py](/raspberrypi/unitree_legged_sdk/example_py/example_torque.py) | Python | 44 | 9 | 18 | 71 |
| [raspberrypi/unitree_legged_sdk/example_py/example_velocity.py](/raspberrypi/unitree_legged_sdk/example_py/example_velocity.py) | Python | 38 | 4 | 17 | 59 |
| [raspberrypi/unitree_legged_sdk/example_py/example_walk.py](/raspberrypi/unitree_legged_sdk/example_py/example_walk.py) | Python | 76 | 14 | 30 | 120 |
| [raspberrypi/unitree_legged_sdk/example_py/test.py](/raspberrypi/unitree_legged_sdk/example_py/test.py) | Python | 5 | 1 | 2 | 8 |
| [raspberrypi/unitree_legged_sdk/example_py/unitree.py](/raspberrypi/unitree_legged_sdk/example_py/unitree.py) | Python | 21 | 0 | 6 | 27 |
| [raspberrypi/unitree_legged_sdk/example_py/unitree_python_sdk.py](/raspberrypi/unitree_legged_sdk/example_py/unitree_python_sdk.py) | Python | 42 | 9 | 10 | 61 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/a1_const.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/a1_const.h) | C++ | 12 | 3 | 4 | 19 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/aliengo_const.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/aliengo_const.h) | C++ | 12 | 3 | 4 | 19 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/comm.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/comm.h) | C++ | 172 | 15 | 30 | 217 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/go1_const.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/go1_const.h) | C++ | 12 | 3 | 4 | 19 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/joystick.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/joystick.h) | C++ | 35 | 5 | 4 | 44 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/loop.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/loop.h) | C++ | 42 | 7 | 13 | 62 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/quadruped.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/quadruped.h) | C++ | 32 | 4 | 15 | 51 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/safety.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/safety.h) | C++ | 19 | 5 | 8 | 32 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/udp.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/udp.h) | C++ | 64 | 17 | 21 | 102 |
| [raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/unitree_legged_sdk.h](/raspberrypi/unitree_legged_sdk/include/unitree_legged_sdk/unitree_legged_sdk.h) | C++ | 11 | 3 | 5 | 19 |
| [raspberrypi/unitree_python_sdk.py](/raspberrypi/unitree_python_sdk.py) | Python | 42 | 9 | 10 | 61 |
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[Summary](results.md) / Details / [Diff Summary](diff.md) / [Diff Details](diff-details.md)

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# Diff Details
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Directory d:\\Administrator\\Desktop\\go1_guide-master
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[Summary](results.md) / [Details](details.md) / [Diff Summary](diff.md) / Diff Details
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[Summary](results.md) / [Details](details.md) / [Diff Summary](diff.md) / Diff Details

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247 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example\example_position.cpp C++ 0 0 0 122 0 0 0 0 0 0 0 17 25 164
248 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example\example_torque.cpp C++ 0 0 0 71 0 0 0 0 0 0 0 8 16 95
249 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example\example_velocity.cpp C++ 0 0 0 72 0 0 0 0 0 0 0 8 18 98
250 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example\example_walk.cpp C++ 0 0 0 134 0 0 0 0 0 0 0 6 17 157
251 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\example_position.py Python 0 81 0 0 0 0 0 0 0 0 0 12 26 119
252 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\example_torque.py Python 0 44 0 0 0 0 0 0 0 0 0 9 18 71
253 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\example_velocity.py Python 0 38 0 0 0 0 0 0 0 0 0 4 17 59
254 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\example_walk.py Python 0 76 0 0 0 0 0 0 0 0 0 14 30 120
255 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\test.py Python 0 5 0 0 0 0 0 0 0 0 0 1 2 8
256 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\unitree.py Python 0 21 0 0 0 0 0 0 0 0 0 0 6 27
257 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\unitree_python_sdk.py Python 0 42 0 0 0 0 0 0 0 0 0 9 10 61
258 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\a1_const.h C++ 0 0 0 12 0 0 0 0 0 0 0 3 4 19
259 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\aliengo_const.h C++ 0 0 0 12 0 0 0 0 0 0 0 3 4 19
260 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\comm.h C++ 0 0 0 172 0 0 0 0 0 0 0 15 30 217
261 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\go1_const.h C++ 0 0 0 12 0 0 0 0 0 0 0 3 4 19
262 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\joystick.h C++ 0 0 0 35 0 0 0 0 0 0 0 5 4 44
263 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\loop.h C++ 0 0 0 42 0 0 0 0 0 0 0 7 13 62
264 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\quadruped.h C++ 0 0 0 32 0 0 0 0 0 0 0 4 15 51
265 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\safety.h C++ 0 0 0 19 0 0 0 0 0 0 0 5 8 32
266 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\udp.h C++ 0 0 0 64 0 0 0 0 0 0 0 17 21 102
267 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\unitree_legged_sdk.h C++ 0 0 0 11 0 0 0 0 0 0 0 3 5 19
268 d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_python_sdk.py Python 0 42 0 0 0 0 0 0 0 0 0 9 10 61
269 d:\Administrator\Desktop\go1_guide-master\setup.sh Shell Script 4 0 0 0 0 0 0 0 0 0 0 1 1 6
270 d:\Administrator\Desktop\go1_guide-master\test.py Python 0 12 0 0 0 0 0 0 0 0 0 1 5 18
271 Total - 14 1108 427 2085 90 9654 2546 1078 1481 17 394 2357 2385 23636

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# Summary
Date : 2024-06-17 19:31:57
Directory d:\\Administrator\\Desktop\\go1_guide-master
Total : 269 files, 18894 codes, 2357 comments, 2385 blanks, all 23636 lines
Summary / [Details](details.md) / [Diff Summary](diff.md) / [Diff Details](diff-details.md)
## Languages
| language | files | code | comment | blank | total |
| :--- | ---: | ---: | ---: | ---: | ---: |
| HTML | 112 | 9,654 | 550 | 456 | 10,660 |
| LaTeX | 38 | 2,546 | 12 | 532 | 3,090 |
| C++ | 32 | 2,085 | 1,131 | 491 | 3,707 |
| CSS | 3 | 1,481 | 89 | 301 | 1,871 |
| Python | 23 | 1,108 | 324 | 373 | 1,805 |
| JavaScript | 46 | 1,078 | 121 | 126 | 1,325 |
| YAML | 7 | 427 | 73 | 4 | 504 |
| TeX | 1 | 394 | 53 | 57 | 504 |
| Markdown | 2 | 90 | 0 | 33 | 123 |
| Makefile | 1 | 17 | 0 | 5 | 22 |
| Shell Script | 4 | 14 | 4 | 7 | 25 |
## Directories
| path | files | code | comment | blank | total |
| :--- | ---: | ---: | ---: | ---: | ---: |
| . | 269 | 18,894 | 2,357 | 2,385 | 23,636 |
| . (Files) | 4 | 385 | 43 | 104 | 532 |
| core | 8 | 217 | 138 | 95 | 450 |
| model | 1 | 31 | 0 | 1 | 32 |
| model\\picodet_l_416_coco_lcnet | 1 | 31 | 0 | 1 | 32 |
| nano | 229 | 16,922 | 2,008 | 1,836 | 20,766 |
| nano (Files) | 6 | 214 | 112 | 43 | 369 |
| nano\\UnitreecameraSDK | 222 | 16,696 | 1,896 | 1,791 | 20,383 |
| nano\\UnitreecameraSDK (Files) | 5 | 325 | 49 | 25 | 399 |
| nano\\UnitreecameraSDK\\doc | 200 | 15,158 | 825 | 1,475 | 17,458 |
| nano\\UnitreecameraSDK\\doc\\html | 160 | 12,201 | 760 | 881 | 13,842 |
| nano\\UnitreecameraSDK\\doc\\html (Files) | 76 | 10,167 | 519 | 681 | 11,367 |
| nano\\UnitreecameraSDK\\doc\\html\\search | 84 | 2,034 | 241 | 200 | 2,475 |
| nano\\UnitreecameraSDK\\doc\\latex | 40 | 2,957 | 65 | 594 | 3,616 |
| nano\\UnitreecameraSDK\\examples | 12 | 979 | 174 | 228 | 1,381 |
| nano\\UnitreecameraSDK\\examples (Files) | 8 | 269 | 160 | 76 | 505 |
| nano\\UnitreecameraSDK\\examples\\glViewer | 4 | 710 | 14 | 152 | 876 |
| nano\\UnitreecameraSDK\\include | 3 | 148 | 795 | 45 | 988 |
| nano\\UnitreecameraSDK\\src | 2 | 86 | 53 | 18 | 157 |
| nano\\templates | 1 | 12 | 0 | 2 | 14 |
| raspberrypi | 27 | 1,339 | 168 | 349 | 1,856 |
| raspberrypi (Files) | 4 | 131 | 10 | 31 | 172 |
| raspberrypi\\unitree_legged_sdk | 23 | 1,208 | 158 | 318 | 1,684 |
| raspberrypi\\unitree_legged_sdk (Files) | 1 | 29 | 0 | 9 | 38 |
| raspberrypi\\unitree_legged_sdk\\example | 5 | 461 | 44 | 92 | 597 |
| raspberrypi\\unitree_legged_sdk\\example_py | 7 | 307 | 49 | 109 | 465 |
| raspberrypi\\unitree_legged_sdk\\include | 10 | 411 | 65 | 108 | 584 |
| raspberrypi\\unitree_legged_sdk\\include\\unitree_legged_sdk | 10 | 411 | 65 | 108 | 584 |
Summary / [Details](details.md) / [Diff Summary](diff.md) / [Diff Details](diff-details.md)

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Date : 2024-06-17 19:31:57
Directory : d:\Administrator\Desktop\go1_guide-master
Total : 269 files, 18894 codes, 2357 comments, 2385 blanks, all 23636 lines
Languages
+--------------+------------+------------+------------+------------+------------+
| language | files | code | comment | blank | total |
+--------------+------------+------------+------------+------------+------------+
| HTML | 112 | 9,654 | 550 | 456 | 10,660 |
| LaTeX | 38 | 2,546 | 12 | 532 | 3,090 |
| C++ | 32 | 2,085 | 1,131 | 491 | 3,707 |
| CSS | 3 | 1,481 | 89 | 301 | 1,871 |
| Python | 23 | 1,108 | 324 | 373 | 1,805 |
| JavaScript | 46 | 1,078 | 121 | 126 | 1,325 |
| YAML | 7 | 427 | 73 | 4 | 504 |
| TeX | 1 | 394 | 53 | 57 | 504 |
| Markdown | 2 | 90 | 0 | 33 | 123 |
| Makefile | 1 | 17 | 0 | 5 | 22 |
| Shell Script | 4 | 14 | 4 | 7 | 25 |
+--------------+------------+------------+------------+------------+------------+
Directories
+----------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
| path | files | code | comment | blank | total |
+----------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
| . | 269 | 18,894 | 2,357 | 2,385 | 23,636 |
| . (Files) | 4 | 385 | 43 | 104 | 532 |
| core | 8 | 217 | 138 | 95 | 450 |
| model | 1 | 31 | 0 | 1 | 32 |
| model\picodet_l_416_coco_lcnet | 1 | 31 | 0 | 1 | 32 |
| nano | 229 | 16,922 | 2,008 | 1,836 | 20,766 |
| nano (Files) | 6 | 214 | 112 | 43 | 369 |
| nano\UnitreecameraSDK | 222 | 16,696 | 1,896 | 1,791 | 20,383 |
| nano\UnitreecameraSDK (Files) | 5 | 325 | 49 | 25 | 399 |
| nano\UnitreecameraSDK\doc | 200 | 15,158 | 825 | 1,475 | 17,458 |
| nano\UnitreecameraSDK\doc\html | 160 | 12,201 | 760 | 881 | 13,842 |
| nano\UnitreecameraSDK\doc\html (Files) | 76 | 10,167 | 519 | 681 | 11,367 |
| nano\UnitreecameraSDK\doc\html\search | 84 | 2,034 | 241 | 200 | 2,475 |
| nano\UnitreecameraSDK\doc\latex | 40 | 2,957 | 65 | 594 | 3,616 |
| nano\UnitreecameraSDK\examples | 12 | 979 | 174 | 228 | 1,381 |
| nano\UnitreecameraSDK\examples (Files) | 8 | 269 | 160 | 76 | 505 |
| nano\UnitreecameraSDK\examples\glViewer | 4 | 710 | 14 | 152 | 876 |
| nano\UnitreecameraSDK\include | 3 | 148 | 795 | 45 | 988 |
| nano\UnitreecameraSDK\src | 2 | 86 | 53 | 18 | 157 |
| nano\templates | 1 | 12 | 0 | 2 | 14 |
| raspberrypi | 27 | 1,339 | 168 | 349 | 1,856 |
| raspberrypi (Files) | 4 | 131 | 10 | 31 | 172 |
| raspberrypi\unitree_legged_sdk | 23 | 1,208 | 158 | 318 | 1,684 |
| raspberrypi\unitree_legged_sdk (Files) | 1 | 29 | 0 | 9 | 38 |
| raspberrypi\unitree_legged_sdk\example | 5 | 461 | 44 | 92 | 597 |
| raspberrypi\unitree_legged_sdk\example_py | 7 | 307 | 49 | 109 | 465 |
| raspberrypi\unitree_legged_sdk\include | 10 | 411 | 65 | 108 | 584 |
| raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk | 10 | 411 | 65 | 108 | 584 |
+----------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
Files
+----------------------------------------------------------------------------------------------------------------------------------------+--------------+------------+------------+------------+------------+
| filename | language | code | comment | blank | total |
+----------------------------------------------------------------------------------------------------------------------------------------+--------------+------------+------------+------------+------------+
| d:\Administrator\Desktop\go1_guide-master\core\Camera.py | Python | 42 | 43 | 27 | 112 |
| d:\Administrator\Desktop\go1_guide-master\core\PID.py | Python | 38 | 1 | 8 | 47 |
| d:\Administrator\Desktop\go1_guide-master\core\capture.py | Python | 49 | 1 | 15 | 65 |
| d:\Administrator\Desktop\go1_guide-master\core\color_detection.py | Python | 27 | 2 | 11 | 40 |
| d:\Administrator\Desktop\go1_guide-master\core\getcolor.py | Python | 12 | 0 | 2 | 14 |
| d:\Administrator\Desktop\go1_guide-master\core\picture_processing.py | Python | 24 | 83 | 21 | 128 |
| d:\Administrator\Desktop\go1_guide-master\core\robot_connector.py | Python | 13 | 0 | 5 | 18 |
| d:\Administrator\Desktop\go1_guide-master\core\shot.py | Python | 12 | 8 | 6 | 26 |
| d:\Administrator\Desktop\go1_guide-master\main.py | Python | 161 | 26 | 43 | 230 |
| d:\Administrator\Desktop\go1_guide-master\model\picodet_l_416_coco_lcnet\infer_cfg.yml | YAML | 31 | 0 | 1 | 32 |
| d:\Administrator\Desktop\go1_guide-master\nano\UnitreecameraSDK\README.md | Markdown | 61 | 0 | 24 | 85 |
| d:\Administrator\Desktop\go1_guide-master\nano\UnitreecameraSDK\doc\html\_stereo_camera_common_8cc.html | HTML | 151 | 5 | 7 | 163 |
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| d:\Administrator\Desktop\go1_guide-master\nano\UnitreecameraSDK\doc\html\classes.html | HTML | 88 | 5 | 3 | 96 |
| d:\Administrator\Desktop\go1_guide-master\nano\UnitreecameraSDK\doc\html\classglwindow_1_1_event_dispatcher-members.html | HTML | 86 | 5 | 4 | 95 |
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| d:\Administrator\Desktop\go1_guide-master\nano\UnitreecameraSDK\doc\html\classinfo__camera___string-members.html | HTML | 73 | 5 | 4 | 82 |
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| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\test.py | Python | 5 | 1 | 2 | 8 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\unitree.py | Python | 21 | 0 | 6 | 27 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\example_py\unitree_python_sdk.py | Python | 42 | 9 | 10 | 61 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\a1_const.h | C++ | 12 | 3 | 4 | 19 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\aliengo_const.h | C++ | 12 | 3 | 4 | 19 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\comm.h | C++ | 172 | 15 | 30 | 217 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\go1_const.h | C++ | 12 | 3 | 4 | 19 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\joystick.h | C++ | 35 | 5 | 4 | 44 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\loop.h | C++ | 42 | 7 | 13 | 62 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\quadruped.h | C++ | 32 | 4 | 15 | 51 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\safety.h | C++ | 19 | 5 | 8 | 32 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\udp.h | C++ | 64 | 17 | 21 | 102 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_legged_sdk\include\unitree_legged_sdk\unitree_legged_sdk.h | C++ | 11 | 3 | 5 | 19 |
| d:\Administrator\Desktop\go1_guide-master\raspberrypi\unitree_python_sdk.py | Python | 42 | 9 | 10 | 61 |
| d:\Administrator\Desktop\go1_guide-master\setup.sh | Shell Script | 4 | 1 | 1 | 6 |
| d:\Administrator\Desktop\go1_guide-master\test.py | Python | 12 | 1 | 5 | 18 |
| Total | | 18,894 | 2,357 | 2,385 | 23,636 |
+----------------------------------------------------------------------------------------------------------------------------------------+--------------+------------+------------+------------+------------+

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src/Robot/go1_guide/.gitignore vendored
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PaddleDetection
__pycache__

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src/Robot/go1_guide/README
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此项目为 <2022年第15届中国大学生计算机设计大赛 南京决赛区人工智能挑战赛> 参赛使用代码, 部署到 Unitree Go1 机器狗上。
感知部分---识别部分---控制部分
头部Nano---腹部Nano---RaspberryPi
IP: 13 15 161
部署&运行:
1. 将nano文件夹移动到头部nano, 执行start.sh, 开启网络摄像头
(在机器狗局域网中的任何设备都可以通过192.168.123.13:5000/video1获取前向摄像头图像
在机器狗局域网中的任何设备都可以通过192.168.123.13:5000/video2获取下巴摄像头图像)
2. 将raspberrypi文件夹移动到RaspberryPi, 执行start.sh, 启动控制服务器
(用以接收指令,然后通过官方控制SDK来控制机器狗)
3. 将其他文件移动到腹部nano, 执行setup.sh, 安装PaddleDetection
执行main.py脚本, 开始进行比赛
(获取网络摄像头的图像, 进行目标检测, 通过识别结果判断下一步的控制, 再发送控制指令给RaspberryPi进行控制机器狗)
参考资料:
GitHub(Unitree Robotics): https://github.com/unitreerobotics
开发知识库 语雀: https://www.yuque.com/ironfatty/nly1un
Unitree Go1 开发指南: https://blog.csdn.net/qq_45779334/article/details/121960667?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1-121960667-blog-121993402.pc_relevant_multi_platform_whitelistv1&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1-121960667-blog-121993402.pc_relevant_multi_platform_whitelistv1&utm_relevant_index=1
Go1资料包: https://pan.baidu.com/s/16OexDC4zN85LItv6Z1nXRw 提取码 kehe
### 使用的目标检测模型为基于PaddlePaddle的PicoDet, 模型文件在model文件夹中

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src/Robot/go1_guide/core/Camera.py
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import cv2
import time
import os
import numpy as np
class Camera:
def __init__(self, source=0):
# source = "http://192.168.123.12:8080/?action=stream"
self.cap = cv2.VideoCapture(source)
def getframe(self):
ret, frame = self.cap.read()
return frame
def getframe_rgb(self):
ret, frame = self.cap.read()
return cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
def showframe(self, frame, window_name='result'):
cv2.imshow(window_name, frame)
def close(self):
self.cap.release()
def writeframe(self, frame, filename=''):
if filename=='':
filename = './result' + time.strftime('%Y-%m-%d-%H-%M-%S', time.localtime()) + '.jpg'
cv2.imwrite(filename, frame)
# path_imgs = './images'
path_imgs = r'E:/Datasets/WisdomGuide/val'
class Camera_virtual():
index = 0
def __init__(self, path_imgs=path_imgs, imgs_num=-1):
self.path_imgs = path_imgs
self.files = os.listdir(path_imgs)[0:imgs_num]
self.files = list(map(lambda x: path_imgs+os.path.sep+x, self.files))
self.imgs_num = len(self.files)
# self.frames = []
# for file in files:
# if not os.path.isdir(file):
# frame = cv2.imread(path_imgs + os.path.sep + file)
# self.frames.append(frame)
return
def getframe(self):
frame = cv2.imread(self.files[self.index])
return frame
def getframe_rgb(self):
frame = cv2.imread(self.files[self.index])
return cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
def nextframe(self):
self.index += 1
if self.index>=self.imgs_num: self.index = 0
def get_frame_byte(self):
frame = cv2.imread(self.files[self.index])
return cv2.imencode('.jpg', frame)[1].tobytes()
# class Camera_rs:
# def __init__(self) -> None:
# import pyrealsense2 as rs
# # Configure depth and color streams
# self.pipeline = rs.pipeline()
# config = rs.config()
# # Get device product line for setting a supporting resolution
# pipeline_wrapper = rs.pipeline_wrapper(self.pipeline)
# pipeline_profile = config.resolve(pipeline_wrapper)
# device = pipeline_profile.get_device()
# device_product_line = str(device.get_info(rs.camera_info.product_line))
# found_rgb = False
# for s in device.sensors:
# if s.get_info(rs.camera_info.name) == 'RGB Camera':
# found_rgb = True
# break
# if not found_rgb:
# print("The demo requires Depth camera with Color sensor")
# exit(0)
# if device_product_line == 'L500':
# config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)
# else:
# config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
# # Start streaming
# self.pipeline.start(config)
# def getframe(self):
# frames = self.pipeline.wait_for_frames()
# color_frame = frames.get_color_frame()
# if not color_frame:
# print('Can not get color frame.')
# return False
# # Convert images to numpy arrays
# frame = np.asanyarray(color_frame.get_data()) # color_image
# return frame
# def close(self):
# pass

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src/Robot/go1_guide/core/PID.py
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class PID():
def __init__(self, dt, max, min, Kp, Kd, Ki):
self.dt = dt # 循环时长
self.max = max # 操作变量最大值
self.min = min # 操作变量最小值
self.Kp = Kp # 比例增益
self.Kd = Kd # 微分增益
self.Ki = Ki # 积分增益
self.integral = 0 # 直到上一次的误差值
self.pre_error = 0 # 上一次的误差值
def calculate(self, setPoint, pv):
# 其中 pv:process value 即过程值，
error = setPoint - pv # 误差
Pout = self.Kp * error # 比例项
self.integral += error * self.dt
Iout = self.Ki * self.integral # 积分项
derivative = (error - self.pre_error)/self.dt
Dout = self.Kd * derivative # 微分项
output = Pout + Iout + Dout # 新的目标值
if(output > self.max):
output = self.max
elif(output < self.min):
output = self.min
self.pre_error = error # 保存本次误差，以供下次计算
return output
if __name__ == '__main__':
import matplotlib.pyplot as plt
t = range(150)
pid = PID(0.1, 100, -100, 0.1, 0.01, 0.5)
val = 20
z = []
for i in t:
inc = pid.calculate(0, val)
print("val:{} inc:{}".format(val,inc))
z.append(20-val)
val += inc
plt.figure(figsize=(8,6), dpi = 80)
plt.plot(t,z,color="blue",linewidth=1.0,linestyle="-")
plt.show()

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src/Robot/go1_guide/core/capture.py
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"""capture class"""
import cv2
class CaptureInterface(object):
"""base class of capture"""
def start(self):
"""start"""
raise NotImplementedError
def stop(self):
"""stop"""
raise NotImplementedError
def getType(self):
"""getType"""
raise NotImplementedError
def getFrame(self):
"""getFrame"""
raise NotImplementedError
def run(self):
"""run"""
raise NotImplementedError
class USBCamera(CaptureInterface):
"""usb cam wrapper"""
def __init__(self, dev, type_='usb_camera', size=[928,800]):
"""init"""
self.dev_type = type_
self.dev_name = dev
self.size = size
# dev_ = int(dev.split("/")[-1][5:])
dev_ = dev
self.cap = cv2.VideoCapture(dev_)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.size[0])
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.size[1])
def start(self):
"""start"""
self.cap = cv2.VideoCapture(self.dev_name)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.size[0])
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.size[1])
if self.cap is None:
return -1
return 0
def stop(self):
"""stop"""
self.cap.release()
return 0
def getFrame(self):
"""getFrame"""
_, frame = self.cap.read()
return frame
def getType(self):
"""getType"""
return self.dev_type

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src/Robot/go1_guide/core/color_detection.py
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import cv2
import numpy as np
color_lower = np.array([65, 130, 60], np.uint8)
color_upper = np.array([77, 170, 150], np.uint8)
while True:
max_x = 0
max_center = -1
color_frame = None #frame
# Convert images to numpy arrays
color_image = np.asanyarray(color_frame.get_data())
hsvFrame = cv2.cvtColor(color_image, cv2.COLOR_BGR2HSV)
color_mask = cv2.inRange(hsvFrame, color_lower, color_upper)
kernal = np.ones((5, 5), "uint8")
color_mask = cv2.dilate(color_mask, kernal)
res = cv2.bitwise_and(color_image, color_image, mask = color_mask)
# Creating contour to track red color
contours, hierarchy = cv2.findContours(color_mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
area = max(contours,key = cv2.contourArea)
x, y, w, h = cv2.boundingRect(area)
color_image = cv2.rectangle(color_image,
(x, y),
(x + w, y + h),
(0, 0, 255), 2)
x_center = x + int(w/2)
y_center = y + int(h/2)
cv2.imshow("Color Detection in Real-Time", color_image)
waitkey = cv2.waitKey(1)
if waitkey==ord('q'): break
cv2.destroyAllWindows()

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src/Robot/go1_guide/core/getcolor.py
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import cv2
import numpy as np
def mouseColor(event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
print('HSV:', hsv[y, x])
img = cv2.imread('shot0.jpg')
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
cv2.namedWindow("Color Picker")
cv2.setMouseCallback("Color Picker", mouseColor)
cv2.imshow("Color Picker", img)
if cv2.waitKey(0):
cv2.destroyAllWindows()

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src/Robot/go1_guide/core/picture_processing.py
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import cv2
import numpy as np
# from capture import USBCamera
# def saveFrame():
# capture = USBCamera("/dev/video0")
# frame = capture.getFrame()
# cv2.imwrite('capture.png', frame)
# import numpy as np
# import glob
# size = [480,400]
# def get_K_and_D(checkerboard, imgsPath):
# CHECKERBOARD = checkerboard
# subpix_criteria = (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1)
# calibration_flags = cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC+cv2.fisheye.CALIB_CHECK_COND+cv2.fisheye.CALIB_FIX_SKEW
# objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
# objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
# _img_shape = None
# objpoints = []
# imgpoints = []
# images = glob.glob(imgsPath + '/*.png')
# for fname in images:
# img = cv2.imread(fname)
# img = cv2.resize(img, size)
# if _img_shape == None:
# _img_shape = img.shape[:2]
# else:
# assert _img_shape == img.shape[:2], "All images must share the same size."
# gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
# ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD,cv2.CALIB_CB_ADAPTIVE_THRESH+cv2.CALIB_CB_FAST_CHECK+cv2.CALIB_CB_NORMALIZE_IMAGE)
# if ret == True:
# objpoints.append(objp)
# cv2.cornerSubPix(gray,corners,(3,3),(-1,-1),subpix_criteria)
# imgpoints.append(corners)
# N_OK = len(objpoints)
# K = np.zeros((3, 3))
# D = np.zeros((4, 1))
# rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)]
# tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)]
# rms, _, _, _, _ = \
# cv2.fisheye.calibrate(
# objpoints,
# imgpoints,
# gray.shape[::-1],
# K,
# D,
# rvecs,
# tvecs,
# calibration_flags,
# (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
# )
# DIM = _img_shape[::-1]
# print("Found " + str(N_OK) + " valid images for calibration")
# print("DIM=" + str(_img_shape[::-1]))
# print("K=np.array(" + str(K.tolist()) + ")")
# print("D=np.array(" + str(D.tolist()) + ")")
# return DIM, K, D
# def OpenCVFisheyeImageUndistortion(img):
# cv::Mat img, undistortImg
# cv::Matx33d K, P
# cv::Vec4d D
# cv::Mat mapX, mapY
# K(0, 0) = 348.52; K(0, 1) = 0; K(0, 2) = 640.19
# K(1, 0) = 0; K(1, 1) = 348.52; K(1, 2) = 358.56
# K(2, 0) = 0; K(2, 1) = 0; K(2, 2) = 1
# D(0) = 0.066258
# D(1) = 0.039769
# D(2) = -0.026906
# D(3) = 0.003342
# P = K
# P(0, 0) /= 1.5
# P(1, 1) /= 1.5
# K = [[348.52, 0, 640.19],
# [0, 348.52, 358.56],
# [0, 0, 1]]
# D = [0.066258, 0.039769, -0.026906, 0.003342]
# cv2.initUndistortRectifyMap(K, D, cv::Matx33d::eye(), P, cv::Size(img.cols, img.rows), CV_16SC2, mapX, mapY)
# cv::remap(img, undistortImg, mapX, mapY, CV_INTER_LINEAR)
# cv::imshow("src", img)
# cv::imshow("corrected", undistortImg)
# DIM = (480, 400)
# K = np.array([[122.87238744667862, 0.0, 220.28343964853087],
# [0.0, 120.60935347262523, 203.74634232157828],
# [0.0, 0.0, 1.0]])
# D = np.array([[0.06701341388742599], [0.1906721369775406], [-0.2568929474339438], [0.09063021944980182]])
DIM = (640,480)
K = np.array([[182.2034195269173, 0.0, 248.72241643510006],
[0.0, 200.88841301751464, 195.87207910703572],
[0.0, 0.0, 1.0]])
D = np.array([[0.12236488620142214], [-0.053849293887633265], [0.03508527000849206], [-0.011661429257952398]])
def undistort(img, DIM=DIM, K=K, D=D):
# img = cv2.resize(img, DIM)
map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, DIM,cv2.CV_16SC2)
undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR,borderMode=cv2.BORDER_CONSTANT)
return undistorted_img
def get_img_middle(img, size=[640,480]):
top = int((img.shape[0] - size[1]) / 2)
bottom = top + size[1]
left = int((img.shape[1] - size[0]) / 2)
right = left + size[0]
return img[top:bottom, left:right]
if __name__ == "__main__":
capture = USBCamera("/dev/video0")
frame = capture.getFrame()
frame = cv2.resize(frame, DIM)
map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, DIM,cv2.CV_16SC2)
undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR,borderMode=cv2.BORDER_CONSTANT)
cv2.imwrite('unfisheyeImage.png', undistorted_img)

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src/Robot/go1_guide/core/robot_connector.py
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import socket
import json
class RobotConnector():
def __init__(self, ip_address='192.168.123.161', port=8000):
address_server = (ip_address, port)
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.s.connect(address_server)
def robot_high_control(self, mode=2, gaitType=0, speedLevel=0,
footRaiseHeight=0, bodyHeight=0,
euler=[0,0,0], velocity=[0,0], yawSpeed=0.0, reverve=0):
data = [mode, gaitType, speedLevel, footRaiseHeight, bodyHeight, euler, velocity, yawSpeed, reverve]
data = json.dumps(data)
self.s.send(bytes(data.encode('utf-8')))

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src/Robot/go1_guide/core/shot.py
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import cv2
t = 1
video = 'http://192.168.123.13:5000/video2'
capture = cv2.VideoCapture(video)
t = 5
while True:
# if capture.isOpened():
# _, frame = capture.read()
# cv2.imshow("video", frame)
_, frame = capture.read()
t -= 1
if not t:
cv2.imwrite("shot0.jpg", frame)
break
# waitkey = cv2.waitKey(1)
# if waitkey == ord('q'): break
# if waitkey == ord(' '):
# cv2.imwrite("shot{}.png".format(t), frame)
# t += 1
capture.release()

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src/Robot/go1_guide/main.py
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## frame.shape : [480, 640, 3]
min_speed, max_speed = 0.05, 0.28 #0.28
import time
import cv2
from predict import predicter
predictor = predicter()
from core.robot_connector import RobotConnector
robot = RobotConnector(ip_address='192.168.123.161', port=8000)
from core.PID import PID
# pid_velocity0 = PID(0.1, 0.2, 0.0, 0.01, 0.00, 0.00) # dt循环时长, max操作变量最大值, min操作变量最小值, Kp比例增益, Kd积分增益, Ki微分增益
# pid_velocity1 = PID(0.1, 0.2, -0.2, 0.10, 0.10, 0.00)
pid_yaw = PID(0.1, 1.2, -1.2, 0.018, 0.01, 0.00)
from core.Camera import Camera
vedio1 = Camera("http://192.168.123.13:5000/video1")
vedio2 = Camera("http://192.168.123.13:5000/video2")
# IpLastSegment = "15"
# udpstrPrevData = "udpsrc address=192.168.123."+ IpLastSegment + " port="
# ## 端口: 前方, 下巴, 左, 右, 腹部
# udpPORT = [9201, 9202, 9203, 9204, 9205] [1]
# udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink"
# udpSendIntegratedPipe = udpstrPrevData + udpPORT + udpstrBehindData
# print('udpSendIntegratedPipe:', udpSendIntegratedPipe)
# vedio2 = Camera(udpSendIntegratedPipe)
def save(img, result, name):
if result:
x, y, w, h = result
img = cv2.rectangle(img,
(x, y),
(x + w, y + h),
(0, 0, 255), 2)
cv2.imwrite(name+'.jpg', img)
print('saved')
def get_object(bboxes, object, square=None):
for box in bboxes:
if box['type']==object:
if square and box['w']*box['h']>square:
return box['x'], box['y'], box['w'], box['h']
return None
def cross():
while True:
frame1 = vedio1.getframe()
bboxes = predictor.predict(frame1)
result = get_object(bboxes, 'green_light')
if result:
save(frame1, result, 'green')
break
for i in range(12):
time.sleep(0.2)
robot.robot_high_control(velocity=[max_speed, 0.0], yawSpeed=0.0)
while True:
frame2 = vedio2.getframe()
bboxes = predictor.predict(frame2)
result = get_object(bboxes, 'blind_path')
if result:
break
else:
robot.robot_high_control(velocity=[max_speed, 0.0], yawSpeed=0.0)
def obstacle():
while True:
frame1 = vedio1.getframe()
bboxes = predictor.predict(frame1)
result = get_object(bboxes, 'block', square=250000) #300000
if result:
break
robot.robot_high_control(velocity=[0.12, 0.00], yawSpeed=0.00)
print('adjustment...')
for i in range(15):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.00, -0.20], yawSpeed=0.00)
for i in range(7):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.20, 0.00], yawSpeed=0.00)
for i in range(5):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.00, 0.00], yawSpeed=0.58)
for i in range(15):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.2, 0.00], yawSpeed=0.00)
for i in range(5):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.00, 0.00], yawSpeed=-0.55)
def step():
for i in range(6):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.20, 0.00], yawSpeed=0.00, footRaiseHeight=0.12)
for i in range(10):
time.sleep(0.2)
robot.robot_high_control(velocity=[max_speed, 0.00], yawSpeed=0.00)
while True:
frame2 = vedio2.getframe()
bboxes = predictor.predict(frame2)
result = get_object(bboxes, 'blind_path')
if result:
break
else:
robot.robot_high_control(velocity=[0.20, 0.00], yawSpeed=0.00)
def end():
for i in range(15):
time.sleep(0.2)
robot.robot_high_control(velocity=[0.20, 0.00], yawSpeed=-0.65)
def walk_along():
items = [0, 0, 0, 0]
h_frame, w_frame = vedio2.getframe().shape[0:2]
x_center = 0
while True:
frame1 = vedio1.getframe()
frame2 = vedio2.getframe()
bboxes1 = predictor.predict(frame1)
bboxes2 = predictor.predict(frame2)
if not items[0]:
# frame_ = frame2[0:int(h_frame/2), :]
result = get_object(bboxes2, 'crossing')
if result:
save(frame2, result, 'cross')
print('cross...')
cross()
print('crossed')
x_center = w_frame/2
items[0] = 1
continue
if not items[1]:
result = get_object(bboxes1, 'block', square=10000)
if result:
print('obstacle...')
obstacle()
print('obstacled')
x_center = w_frame/2
items[1] = 1
continue
if not items[2]:
result = get_object(bboxes2, 'step')
if result:
save(frame2, result, 'step')
print('step...')
step()
print('steped')
x_center = w_frame/2
items[2] = 1
continue
if not items[3] and all(items[:-2]):
result = get_object(bboxes2, 'red')
if result:
save(frame2, result, 'red')
print('end...')
end()
print('END!!!')
break
result = get_object(bboxes2, 'blind_path')
if result:
x, y, w, h = result
x_center = x + int(w/2)
y_center = y + int(h/2)
# color_image = cv2.rectangle(color_image,
# (x, y),
# (x + w, y + h),
# (0, 0, 255), 2)
# color_image = cv2.circle(color_image,
# (x_center,y_center),
# 1,
# (0, 0, 255), 4)
# color_image = cv2.line(color_image,
# (int(w_frame/2), 0),
# (int(w_frame/2), h_frame),
# (0, 255, 0), 2)
velocity = [0.0, 0.0]
yawspeed = 0.0
deviation = abs(w_frame/2 - x_center)
velocity[0] = max_speed-(max_speed-min_speed)*(deviation/(w_frame/2))
yawspeed = pid_yaw.calculate(0, x_center - w_frame/2)
# print('{}, {}'.format(x_center ,yawspeed))
robot.robot_high_control(velocity=velocity, yawSpeed=yawspeed)
waitkey = cv2.waitKey(1)
if waitkey==ord('q'): break
# cap.release()
def go(n):
for i in range(n):
time.sleep(0.2)
robot.robot_high_control(velocity=[max_speed, 0.0], yawSpeed=0.0)
frame1, frame2 = None, None
print('go...')
go(10)
print('walk...')
walk_along()
frame1, frame2 = None, None
while True:
time.sleep(0.2)
robot.robot_high_control(bodyHeight=-1.8)

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src/Robot/go1_guide/model/picodet_l_416_coco_lcnet/infer_cfg.yml
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mode: paddle
draw_threshold: 0.5
metric: COCO
use_dynamic_shape: false
arch: GFL
min_subgraph_size: 3
Preprocess:
- interp: 2
keep_ratio: false
target_size:
- 416
- 416
type: Resize
- type: Permute
label_list:
- blind_path
- green_light
- block
- no_light
- red_light
NMS:
keep_top_k: 100
name: MultiClassNMS
nms_threshold: 0.5
nms_top_k: 1000
score_threshold: 0.3
fpn_stride:
- 8
- 16
- 32
- 64

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src/Robot/go1_guide/nano/UnitreecameraSDK/CMakeLists.txt
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cmake_minimum_required( VERSION 2.8 )
project( UnitreeCameraSDK )
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bins/)
find_package(OpenCV 4 REQUIRED)
if(OpenCV_FOUND)
include_directories(${OpenCV_INCLUDE_DIR})
message(STATUS "OpenCV ${OpenCV_VERSION} FOUND")
message(STATUS ${OpenCV_LIBS})
if(${OpenCV_VERSION_MAJOR} EQUAL 4)
add_definitions(-DOPENCV_VERSION_4)
elseif(${OpenCV_VERSION_MAJOR} LESS 4)
add_definitions(-DOPENCV_VERSION_3)
endif()
else()
message(FATAL_ERROR "OpenCV Library Not Found")
endif()
if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/amd64/)
link_directories(${PROJECT_SOURCE_DIR}/lib/amd64/)
else()
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/arm64/)
link_directories(${PROJECT_SOURCE_DIR}/lib/arm64/)
endif()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
include_directories(${PROJECT_SOURCE_DIR}/include)
set(SDKLIBS unitree_camera tstc_V4L2_xu_camera udev systemlog ${OpenCV_LIBS})
add_subdirectory(${PROJECT_SOURCE_DIR}/src)

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src/Robot/go1_guide/nano/UnitreecameraSDK/LICENSE
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Mozilla Public License Version 2.0
==================================
1. Definitions
--------------
1.1. "Contributor"
means each individual or legal entity that creates, contributes to
the creation of, or owns Covered Software.
1.2. "Contributor Version"
means the combination of the Contributions of others (if any) used
by a Contributor and that particular Contributor's Contribution.
1.3. "Contribution"
means Covered Software of a particular Contributor.
1.4. "Covered Software"
means Source Code Form to which the initial Contributor has attached
the notice in Exhibit A, the Executable Form of such Source Code
Form, and Modifications of such Source Code Form, in each case
including portions thereof.
1.5. "Incompatible With Secondary Licenses"
means
(a) that the initial Contributor has attached the notice described
in Exhibit B to the Covered Software; or
(b) that the Covered Software was made available under the terms of
version 1.1 or earlier of the License, but not also under the
terms of a Secondary License.
1.6. "Executable Form"
means any form of the work other than Source Code Form.
1.7. "Larger Work"
means a work that combines Covered Software with other material, in
a separate file or files, that is not Covered Software.
1.8. "License"
means this document.
1.9. "Licensable"
means having the right to grant, to the maximum extent possible,
whether at the time of the initial grant or subsequently, any and
all of the rights conveyed by this License.
1.10. "Modifications"
means any of the following:
(a) any file in Source Code Form that results from an addition to,
deletion from, or modification of the contents of Covered
Software; or
(b) any new file in Source Code Form that contains any Covered
Software.
1.11. "Patent Claims" of a Contributor
means any patent claim(s), including without limitation, method,
process, and apparatus claims, in any patent Licensable by such
Contributor that would be infringed, but for the grant of the
License, by the making, using, selling, offering for sale, having
made, import, or transfer of either its Contributions or its
Contributor Version.
1.12. "Secondary License"
means either the GNU General Public License, Version 2.0, the GNU
Lesser General Public License, Version 2.1, the GNU Affero General
Public License, Version 3.0, or any later versions of those
licenses.
1.13. "Source Code Form"
means the form of the work preferred for making modifications.
1.14. "You" (or "Your")
means an individual or a legal entity exercising rights under this
License. For legal entities, "You" includes any entity that
controls, is controlled by, or is under common control with You. For
purposes of this definition, "control" means (a) the power, direct
or indirect, to cause the direction or management of such entity,
whether by contract or otherwise, or (b) ownership of more than
fifty percent (50%) of the outstanding shares or beneficial
ownership of such entity.
2. License Grants and Conditions
--------------------------------
2.1. Grants
Each Contributor hereby grants You a world-wide, royalty-free,
non-exclusive license:
(a) under intellectual property rights (other than patent or trademark)
Licensable by such Contributor to use, reproduce, make available,
modify, display, perform, distribute, and otherwise exploit its
Contributions, either on an unmodified basis, with Modifications, or
as part of a Larger Work; and
(b) under Patent Claims of such Contributor to make, use, sell, offer
for sale, have made, import, and otherwise transfer either its
Contributions or its Contributor Version.
2.2. Effective Date
The licenses granted in Section 2.1 with respect to any Contribution
become effective for each Contribution on the date the Contributor first
distributes such Contribution.
2.3. Limitations on Grant Scope
The licenses granted in this Section 2 are the only rights granted under
this License. No additional rights or licenses will be implied from the
distribution or licensing of Covered Software under this License.
Notwithstanding Section 2.1(b) above, no patent license is granted by a
Contributor:
(a) for any code that a Contributor has removed from Covered Software;
or
(b) for infringements caused by: (i) Your and any other third party's
modifications of Covered Software, or (ii) the combination of its
Contributions with other software (except as part of its Contributor
Version); or
(c) under Patent Claims infringed by Covered Software in the absence of
its Contributions.
This License does not grant any rights in the trademarks, service marks,
or logos of any Contributor (except as may be necessary to comply with
the notice requirements in Section 3.4).
2.4. Subsequent Licenses
No Contributor makes additional grants as a result of Your choice to
distribute the Covered Software under a subsequent version of this
License (see Section 10.2) or under the terms of a Secondary License (if
permitted under the terms of Section 3.3).
2.5. Representation
Each Contributor represents that the Contributor believes its
Contributions are its original creation(s) or it has sufficient rights
to grant the rights to its Contributions conveyed by this License.
2.6. Fair Use
This License is not intended to limit any rights You have under
applicable copyright doctrines of fair use, fair dealing, or other
equivalents.
2.7. Conditions
Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
in Section 2.1.
3. Responsibilities
-------------------
3.1. Distribution of Source Form
All distribution of Covered Software in Source Code Form, including any
Modifications that You create or to which You contribute, must be under
the terms of this License. You must inform recipients that the Source
Code Form of the Covered Software is governed by the terms of this
License, and how they can obtain a copy of this License. You may not
attempt to alter or restrict the recipients' rights in the Source Code
Form.
3.2. Distribution of Executable Form
If You distribute Covered Software in Executable Form then:
(a) such Covered Software must also be made available in Source Code
Form, as described in Section 3.1, and You must inform recipients of
the Executable Form how they can obtain a copy of such Source Code
Form by reasonable means in a timely manner, at a charge no more
than the cost of distribution to the recipient; and
(b) You may distribute such Executable Form under the terms of this
License, or sublicense it under different terms, provided that the
license for the Executable Form does not attempt to limit or alter
the recipients' rights in the Source Code Form under this License.
3.3. Distribution of a Larger Work
You may create and distribute a Larger Work under terms of Your choice,
provided that You also comply with the requirements of this License for
the Covered Software. If the Larger Work is a combination of Covered
Software with a work governed by one or more Secondary Licenses, and the
Covered Software is not Incompatible With Secondary Licenses, this
License permits You to additionally distribute such Covered Software
under the terms of such Secondary License(s), so that the recipient of
the Larger Work may, at their option, further distribute the Covered
Software under the terms of either this License or such Secondary
License(s).
3.4. Notices
You may not remove or alter the substance of any license notices
(including copyright notices, patent notices, disclaimers of warranty,
or limitations of liability) contained within the Source Code Form of
the Covered Software, except that You may alter any license notices to
the extent required to remedy known factual inaccuracies.
3.5. Application of Additional Terms
You may choose to offer, and to charge a fee for, warranty, support,
indemnity or liability obligations to one or more recipients of Covered
Software. However, You may do so only on Your own behalf, and not on
behalf of any Contributor. You must make it absolutely clear that any
such warranty, support, indemnity, or liability obligation is offered by
You alone, and You hereby agree to indemnify every Contributor for any
liability incurred by such Contributor as a result of warranty, support,
indemnity or liability terms You offer. You may include additional
disclaimers of warranty and limitations of liability specific to any
jurisdiction.
4. Inability to Comply Due to Statute or Regulation
---------------------------------------------------
If it is impossible for You to comply with any of the terms of this
License with respect to some or all of the Covered Software due to
statute, judicial order, or regulation then You must: (a) comply with
the terms of this License to the maximum extent possible; and (b)
describe the limitations and the code they affect. Such description must
be placed in a text file included with all distributions of the Covered
Software under this License. Except to the extent prohibited by statute
or regulation, such description must be sufficiently detailed for a
recipient of ordinary skill to be able to understand it.
5. Termination
--------------
5.1. The rights granted under this License will terminate automatically
if You fail to comply with any of its terms. However, if You become
compliant, then the rights granted under this License from a particular
Contributor are reinstated (a) provisionally, unless and until such
Contributor explicitly and finally terminates Your grants, and (b) on an
ongoing basis, if such Contributor fails to notify You of the
non-compliance by some reasonable means prior to 60 days after You have
come back into compliance. Moreover, Your grants from a particular
Contributor are reinstated on an ongoing basis if such Contributor
notifies You of the non-compliance by some reasonable means, this is the
first time You have received notice of non-compliance with this License
from such Contributor, and You become compliant prior to 30 days after
Your receipt of the notice.
5.2. If You initiate litigation against any entity by asserting a patent
infringement claim (excluding declaratory judgment actions,
counter-claims, and cross-claims) alleging that a Contributor Version
directly or indirectly infringes any patent, then the rights granted to
You by any and all Contributors for the Covered Software under Section
2.1 of this License shall terminate.
5.3. In the event of termination under Sections 5.1 or 5.2 above, all
end user license agreements (excluding distributors and resellers) which
have been validly granted by You or Your distributors under this License
prior to termination shall survive termination.
************************************************************************
* *
* 6. Disclaimer of Warranty *
* ------------------------- *
* *
* Covered Software is provided under this License on an "as is" *
* basis, without warranty of any kind, either expressed, implied, or *
* statutory, including, without limitation, warranties that the *
* Covered Software is free of defects, merchantable, fit for a *
* particular purpose or non-infringing. The entire risk as to the *
* quality and performance of the Covered Software is with You. *
* Should any Covered Software prove defective in any respect, You *
* (not any Contributor) assume the cost of any necessary servicing, *
* repair, or correction. This disclaimer of warranty constitutes an *
* essential part of this License. No use of any Covered Software is *
* authorized under this License except under this disclaimer. *
* *
************************************************************************
************************************************************************
* *
* 7. Limitation of Liability *
* -------------------------- *
* *
* Under no circumstances and under no legal theory, whether tort *
* (including negligence), contract, or otherwise, shall any *
* Contributor, or anyone who distributes Covered Software as *
* permitted above, be liable to You for any direct, indirect, *
* special, incidental, or consequential damages of any character *
* including, without limitation, damages for lost profits, loss of *
* goodwill, work stoppage, computer failure or malfunction, or any *
* and all other commercial damages or losses, even if such party *
* shall have been informed of the possibility of such damages. This *
* limitation of liability shall not apply to liability for death or *
* personal injury resulting from such party's negligence to the *
* extent applicable law prohibits such limitation. Some *
* jurisdictions do not allow the exclusion or limitation of *
* incidental or consequential damages, so this exclusion and *
* limitation may not apply to You. *
* *
************************************************************************
8. Litigation
-------------
Any litigation relating to this License may be brought only in the
courts of a jurisdiction where the defendant maintains its principal
place of business and such litigation shall be governed by laws of that
jurisdiction, without reference to its conflict-of-law provisions.
Nothing in this Section shall prevent a party's ability to bring
cross-claims or counter-claims.
9. Miscellaneous
----------------
This License represents the complete agreement concerning the subject
matter hereof. If any provision of this License is held to be
unenforceable, such provision shall be reformed only to the extent
necessary to make it enforceable. Any law or regulation which provides
that the language of a contract shall be construed against the drafter
shall not be used to construe this License against a Contributor.
10. Versions of the License
---------------------------
10.1. New Versions
Mozilla Foundation is the license steward. Except as provided in Section
10.3, no one other than the license steward has the right to modify or
publish new versions of this License. Each version will be given a
distinguishing version number.
10.2. Effect of New Versions
You may distribute the Covered Software under the terms of the version
of the License under which You originally received the Covered Software,
or under the terms of any subsequent version published by the license
steward.
10.3. Modified Versions
If you create software not governed by this License, and you want to
create a new license for such software, you may create and use a
modified version of this License if you rename the license and remove
any references to the name of the license steward (except to note that
such modified license differs from this License).
10.4. Distributing Source Code Form that is Incompatible With Secondary
Licenses
If You choose to distribute Source Code Form that is Incompatible With
Secondary Licenses under the terms of this version of the License, the
notice described in Exhibit B of this License must be attached.
Exhibit A - Source Code Form License Notice
-------------------------------------------
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at http://mozilla.org/MPL/2.0/.
If it is not possible or desirable to put the notice in a particular
file, then You may include the notice in a location (such as a LICENSE
file in a relevant directory) where a recipient would be likely to look
for such a notice.
You may add additional accurate notices of copyright ownership.
Exhibit B - "Incompatible With Secondary Licenses" Notice
---------------------------------------------------------
This Source Code Form is "Incompatible With Secondary Licenses", as
defined by the Mozilla Public License, v. 2.0.

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src/Robot/go1_guide/nano/UnitreecameraSDK/README.md
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Introduction
---
Unitree Robotics is a energetic start-up company that focuses on the development, production and sales of high-performance quadruped robots. It has been interviewed by BBC and CCTV, and is one of the earliest company to publicly sell quadruped robots.
The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc.
We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot.
1.Overview
---
UnitreeCameraSDK 1.1.0 is a cross-platform library for unitree stereo cameras
The SDK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth image aligned to color image.
2.Dependencies
---
OpenCV, version: equal or lager than 4 (need gstreamer)
CMake, version: 2.8 or higher
[OpenGL] for point cloud gui
[GLUT] for point cloud gui
[X11], for point cloud gui
2.Build
---
```
cd UnitreeCameraSDK;
mkdir build && cd build;
cmake ..; make
```
3.Run Examples
---
Get Camera Raw Frame:
```
cd UnitreeCameraSDK;
./bin/example_getRawFrame
```
Get Calibration Parameters File
```
cd UnitreeCameraSDK;
./bin/example_getCalibParamsFile
```
Get Rectify Frame
```
cd UnitreeCameraSDK;
./bin/example_getRectFrame
```
Get Depth Frame
```
cd UnitreeCameraSDK;
./bin/example_getDepthFrame
```
Get Point Cloud:
```
cd UnitreeCameraSDK;
./bin/example_getPointCloud
```
4.send image and listen image
sender:put image to another devices
```
cd UnitreeCameraSDK;
./bin/example_putImagetrans
```
listener:get image from another devices
```
cd UnitreeCameraSDK;
./bin/example_getimagetrans
```

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src/Robot/go1_guide/nano/UnitreecameraSDK/doc/html/_stereo_camera_common_8cc.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>UnitreeCameraSDK: src/StereoCameraCommon.cc File Reference</title>
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</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
</div>
<div id="projectbrief">unitree stereo camra apis</div>
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<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#typedef-members">Typedefs</a> &#124;
<a href="#enum-members">Enumerations</a> &#124;
<a href="#func-members">Functions</a> </div>
<div class="headertitle">
<div class="title">StereoCameraCommon.cc File Reference</div> </div>
</div><!--header-->
<div class="contents">
<p>This file is part of UnitreeCameraSDK, which implement stereo vision algorithm.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a>&quot;</code><br />
<code>#include &lt;unistd.h&gt;</code><br />
<code>#include &lt;sys/shm.h&gt;</code><br />
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Include dependency graph for StereoCameraCommon.cc:</div>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This file is part of UnitreeCameraSDK, which implement stereo vision algorithm. </p>
<p>image capture, image rectification, disparity computation, point cloud generation </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang create date 2021.07.31 </dd></dl>
<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c)2019-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
</div><h2 class="groupheader">Enumeration Type Documentation</h2>
<a id="a883d5937720f572dee2c22374bf7190b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a883d5937720f572dee2c22374bf7190b">&#9670;&nbsp;</a></span>ImageRect</h2>
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<div class="memproto">
<table class="memname">
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<p>This enum is used for stereo images rectification. </p>
<p>FISHEYE and LONGLAT for fisheye camera model, PERSPECTIVE for pinhole cameras </p><dl class="section note"><dt>Note</dt><dd>used for differen camera models </dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>make sure camera model is matched. </dd></dl>
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<p>This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;string&gt;</code><br />
<code>#include &lt;thread&gt;</code><br />
<code>#include &lt;mutex&gt;</code><br />
<code>#include &lt;condition_variable&gt;</code><br />
<code>#include &lt;opencv2/opencv.hpp&gt;</code><br />
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<p><a href="_stereo_camera_common_8hpp_source.html">Go to the source code of this file.</a></p>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_p_c_l.html">PCL</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">this class integrate camera control and stereo vision algorithm <a href="class_stereo_camera.html#details">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs. </p>
<p>image capture, image rectification, disparity computation, depth image and point cloud generation </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c)2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
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<p>This file is part of UnitreeCameraSDK, which declare the APIs of log system.
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<div class="textblock"><p>This file is part of UnitreeCameraSDK, which declare the APIs of log system. </p>
<p>The log system is used for unified management of the output information of the special system. </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
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<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
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<div class="title">UnitreeCameraSDK.hpp File Reference</div> </div>
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<p>This file is part of UnitreeCameraSDK, which declare unitree camera APIs.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a>&quot;</code><br />
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This file is part of UnitreeCameraSDK, which declare unitree camera APIs. </p>
<p>class <a class="el" href="class_unitree_camera.html">UnitreeCamera</a> inherits the APIs of class <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> image capture, image rectification, disparity computation, depth image and point cloud generation update camera firmware, flash camera parameters to camera </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
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<tr id="row_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classinfo__camera__os.html" target="_self">info_camera_os</a></td><td class="desc"></td></tr>
<tr id="row_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classinfo__camera___string.html" target="_self">info_camera_String</a></td><td class="desc"></td></tr>
<tr id="row_4_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_p_c_l.html" target="_self">PCL</a></td><td class="desc">This struct is used for RGB point cloud capture and display </td></tr>
<tr id="row_5_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_stereo_camera.html" target="_self">StereoCamera</a></td><td class="desc">This class integrate camera control and stereo vision algorithm </td></tr>
<tr id="row_6_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_system_log.html" target="_self">SystemLog</a></td><td class="desc"></td></tr>
<tr id="row_7_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_unitree_camera.html" target="_self">UnitreeCamera</a></td><td class="desc"></td></tr>
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<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
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<div id="projectbrief">unitree stereo camra apis</div>
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<div class="title">StereoCamera Member List</div> </div>
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<div class="contents">
<p>This is the complete list of members for <a class="el" href="class_stereo_camera.html">StereoCamera</a>, including all inherited members.</p>
<table class="directory">
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a>(std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a>(cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getPointCloud</b>(std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>getPointCloud</b>(std::vector&lt; PCLType &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a>(cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a>(cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a>(std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a>(std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a>(std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a>(int level)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a>(int posNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a>(int frameRate)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a>(int serialNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>(bool udpFlag=false, bool shmFlag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>StereoCamera</b>(std::string fileName) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>StereoCamera</b>(int deviceNode) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a>()</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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&#160;<span id="projectnumber">1.0.1</span>
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<div id="projectbrief">unitree stereo camra apis</div>
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<tr class="even"><td class="entry"><a class="el" href="class_system_log.html#a9714a265975472433882962b7449bd45">saveLog</a>(void)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_system_log.html#af41d346f86242f5be187fe2be354347d">saveLogToFile</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_system_log.html#a21296bb67489848bad6cfa04280fec85">setLogLevel</a>(int level)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_system_log.html#aad41c68c3a8192ddb646170349023c99">SystemLog</a>(std::string logName)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
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&#160;<span id="projectnumber">1.0.1</span>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="class_system_log-members.html">List of all members</a> </div>
<div class="headertitle">
<div class="title">SystemLog Class Reference</div> </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aad41c68c3a8192ddb646170349023c99"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#aad41c68c3a8192ddb646170349023c99">SystemLog</a> (std::string logName)</td></tr>
<tr class="memdesc:aad41c68c3a8192ddb646170349023c99"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_system_log.html">SystemLog</a> constructor. <a href="#aad41c68c3a8192ddb646170349023c99">More...</a><br /></td></tr>
<tr class="separator:aad41c68c3a8192ddb646170349023c99"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21296bb67489848bad6cfa04280fec85"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#a21296bb67489848bad6cfa04280fec85">setLogLevel</a> (int level)</td></tr>
<tr class="memdesc:a21296bb67489848bad6cfa04280fec85"><td class="mdescLeft">&#160;</td><td class="mdescRight">set system ouput log level <a href="#a21296bb67489848bad6cfa04280fec85">More...</a><br /></td></tr>
<tr class="separator:a21296bb67489848bad6cfa04280fec85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac33b9f16ae96885ff7170d209a6af506"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#ac33b9f16ae96885ff7170d209a6af506">runTimeError</a> (const char *format,...)</td></tr>
<tr class="memdesc:ac33b9f16ae96885ff7170d209a6af506"><td class="mdescLeft">&#160;</td><td class="mdescRight">output running error infomation, color: red <a href="#ac33b9f16ae96885ff7170d209a6af506">More...</a><br /></td></tr>
<tr class="separator:ac33b9f16ae96885ff7170d209a6af506"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9b085c959e3f97d547c997c2fca2613"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#ac9b085c959e3f97d547c997c2fca2613">runTimeInfo</a> (const char *format,...)</td></tr>
<tr class="memdesc:ac9b085c959e3f97d547c997c2fca2613"><td class="mdescLeft">&#160;</td><td class="mdescRight">output running infomation, color: green <a href="#ac9b085c959e3f97d547c997c2fca2613">More...</a><br /></td></tr>
<tr class="separator:ac9b085c959e3f97d547c997c2fca2613"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a69d19a4affe470db2b740a1e9a78e6e5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#a69d19a4affe470db2b740a1e9a78e6e5">runTimeWarning</a> (const char *format,...)</td></tr>
<tr class="memdesc:a69d19a4affe470db2b740a1e9a78e6e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">output running warning infomation, color: yellow <a href="#a69d19a4affe470db2b740a1e9a78e6e5">More...</a><br /></td></tr>
<tr class="separator:a69d19a4affe470db2b740a1e9a78e6e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08dff4b478ed29a39d584d3b7f21ddfb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#a08dff4b478ed29a39d584d3b7f21ddfb">debugTimeWarning</a> (const char *format,...)</td></tr>
<tr class="memdesc:a08dff4b478ed29a39d584d3b7f21ddfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">output debug warning infomation, color: cyan <a href="#a08dff4b478ed29a39d584d3b7f21ddfb">More...</a><br /></td></tr>
<tr class="separator:a08dff4b478ed29a39d584d3b7f21ddfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad79238fdcc9a301093d6fa32884d1ae1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#ad79238fdcc9a301093d6fa32884d1ae1">debugTimeInfo</a> (const char *format,...)</td></tr>
<tr class="memdesc:ad79238fdcc9a301093d6fa32884d1ae1"><td class="mdescLeft">&#160;</td><td class="mdescRight">output debug infomation, color: white <a href="#ad79238fdcc9a301093d6fa32884d1ae1">More...</a><br /></td></tr>
<tr class="separator:ad79238fdcc9a301093d6fa32884d1ae1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1cbe2de51efe22068e2e047396a72dd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#ae1cbe2de51efe22068e2e047396a72dd">debugTimeError</a> (const char *format,...)</td></tr>
<tr class="memdesc:ae1cbe2de51efe22068e2e047396a72dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">output debug error infomation, color: magenta <a href="#ae1cbe2de51efe22068e2e047396a72dd">More...</a><br /></td></tr>
<tr class="separator:ae1cbe2de51efe22068e2e047396a72dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9714a265975472433882962b7449bd45"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#a9714a265975472433882962b7449bd45">saveLog</a> (void)</td></tr>
<tr class="memdesc:a9714a265975472433882962b7449bd45"><td class="mdescLeft">&#160;</td><td class="mdescRight">save system log to a file, default file name: Running.txt <a href="#a9714a265975472433882962b7449bd45">More...</a><br /></td></tr>
<tr class="separator:a9714a265975472433882962b7449bd45"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af41d346f86242f5be187fe2be354347d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#af41d346f86242f5be187fe2be354347d">saveLogToFile</a> (std::string fileName)</td></tr>
<tr class="memdesc:af41d346f86242f5be187fe2be354347d"><td class="mdescLeft">&#160;</td><td class="mdescRight">save system log to a designated file <a href="#af41d346f86242f5be187fe2be354347d">More...</a><br /></td></tr>
<tr class="separator:af41d346f86242f5be187fe2be354347d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="aad41c68c3a8192ddb646170349023c99"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aad41c68c3a8192ddb646170349023c99">&#9670;&nbsp;</a></span>SystemLog()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::SystemLog </td>
<td>(</td>
<td class="paramtype">std::string&#160;</td>
<td class="paramname"><em>logName</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p><a class="el" href="class_system_log.html">SystemLog</a> constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">logName</td><td>the name of special system </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>output information starts with "logName" <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="ae1cbe2de51efe22068e2e047396a72dd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae1cbe2de51efe22068e2e047396a72dd">&#9670;&nbsp;</a></span>debugTimeError()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::debugTimeError </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>format</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>output debug error infomation, color: magenta </p>
<p>output format [logName][DEBUG_ERROR] info </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="ad79238fdcc9a301093d6fa32884d1ae1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad79238fdcc9a301093d6fa32884d1ae1">&#9670;&nbsp;</a></span>debugTimeInfo()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::debugTimeInfo </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>format</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>output debug infomation, color: white </p>
<p>output format [logName][DEBUG_INFO] info </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="a08dff4b478ed29a39d584d3b7f21ddfb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a08dff4b478ed29a39d584d3b7f21ddfb">&#9670;&nbsp;</a></span>debugTimeWarning()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::debugTimeWarning </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>format</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>output debug warning infomation, color: cyan </p>
<p>output format [logName][DEBUG_WARNING] info </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="ac33b9f16ae96885ff7170d209a6af506"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac33b9f16ae96885ff7170d209a6af506">&#9670;&nbsp;</a></span>runTimeError()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::runTimeError </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>format</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>output running error infomation, color: red </p>
<p>output format [logName][ERROR] info </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="ac9b085c959e3f97d547c997c2fca2613"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac9b085c959e3f97d547c997c2fca2613">&#9670;&nbsp;</a></span>runTimeInfo()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::runTimeInfo </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>format</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>output running infomation, color: green </p>
<p>output format [logName][INFO] info </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="a69d19a4affe470db2b740a1e9a78e6e5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a69d19a4affe470db2b740a1e9a78e6e5">&#9670;&nbsp;</a></span>runTimeWarning()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::runTimeWarning </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>format</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&#160;</td>
<td class="paramname"><em>...</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>output running warning infomation, color: yellow </p>
<p>output format [logName][WARNING] info </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="a9714a265975472433882962b7449bd45"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9714a265975472433882962b7449bd45">&#9670;&nbsp;</a></span>saveLog()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::saveLog </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>save system log to a file, default file name: Running.txt </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">none</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>not implement at this version <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="af41d346f86242f5be187fe2be354347d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af41d346f86242f5be187fe2be354347d">&#9670;&nbsp;</a></span>saveLogToFile()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::saveLogToFile </td>
<td>(</td>
<td class="paramtype">std::string&#160;</td>
<td class="paramname"><em>fileName</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>save system log to a designated file </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>not implement at this version <div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="a21296bb67489848bad6cfa04280fec85"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a21296bb67489848bad6cfa04280fec85">&#9670;&nbsp;</a></span>setLogLevel()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">SystemLog::setLogLevel </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>level</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>set system ouput log level </p>
<p>log level means that different kind of information will be output </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">level</td><td>1 running information output, 2 running and debug infomation output </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="section attention"><dt>Attention</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/<a class="el" href="_system_log_8hpp_source.html">SystemLog.hpp</a></li>
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<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
</div>
<div id="projectbrief">unitree stereo camra apis</div>
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<div class="title">UnitreeCamera Member List</div> </div>
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<div class="contents">
<p>This is the complete list of members for <a class="el" href="class_unitree_camera.html">UnitreeCamera</a>, including all inherited members.</p>
<table class="directory">
<tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">checkFirmwareVersion</a>(std::string &amp;version)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a>(std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a>(cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>getPointCloud</b>(std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getPointCloud</b>(std::vector&lt; PCLType &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a>(cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a>(cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a>(std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a>(std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a>(std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a>(int level)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a>(int posNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a>(int frameRate)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a>(int serialNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>(bool udpFlag=false, bool shmFlag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>StereoCamera</b>(std::string fileName) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>StereoCamera</b>(int deviceNode) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>()</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>UnitreeCamera</b>(std::string fileName) (defined in <a class="el" href="class_unitree_camera.html">UnitreeCamera</a>)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>UnitreeCamera</b>(int deviceNode) (defined in <a class="el" href="class_unitree_camera.html">UnitreeCamera</a>)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73">updateCalibParams2Flash</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">updateFirmware</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a>()</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">~UnitreeCamera</a>(void)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
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<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
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<div id="projectbrief">unitree stereo camra apis</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="class_unitree_camera-members.html">List of all members</a> </div>
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<div class="title">UnitreeCamera Class Reference</div> </div>
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Inheritance diagram for UnitreeCamera:</div>
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<div class="center"><img src="class_unitree_camera__inherit__graph.png" border="0" usemap="#_unitree_camera_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for UnitreeCamera:</div>
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<div class="center"><img src="class_unitree_camera__coll__graph.png" border="0" usemap="#_unitree_camera_coll__map" alt="Collaboration graph"/></div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:af8a5e0c70f99096ecd378680d2f1ec27"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a> ()</td></tr>
<tr class="memdesc:af8a5e0c70f99096ecd378680d2f1ec27"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> init unitree stereo camera object for default parameters. <a href="#af8a5e0c70f99096ecd378680d2f1ec27">More...</a><br /></td></tr>
<tr class="separator:af8a5e0c70f99096ecd378680d2f1ec27"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe458a0b083d37d8212ddfcbe62cb033"><td class="memItemLeft" align="right" valign="top"><a id="afe458a0b083d37d8212ddfcbe62cb033"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>UnitreeCamera</b> (std::string fileName)</td></tr>
<tr class="separator:afe458a0b083d37d8212ddfcbe62cb033"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0d447525ea7fbcba9b9f892387fc91ee"><td class="memItemLeft" align="right" valign="top"><a id="a0d447525ea7fbcba9b9f892387fc91ee"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>UnitreeCamera</b> (int deviceNode)</td></tr>
<tr class="separator:a0d447525ea7fbcba9b9f892387fc91ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aefb112b0fa677221163ddd18ccf08d8c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">~UnitreeCamera</a> (void)</td></tr>
<tr class="memdesc:aefb112b0fa677221163ddd18ccf08d8c"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> destructor. <a href="#aefb112b0fa677221163ddd18ccf08d8c">More...</a><br /></td></tr>
<tr class="separator:aefb112b0fa677221163ddd18ccf08d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab056c2e429ec5d91b7e838c18cbd0d73"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73">updateCalibParams2Flash</a> (std::string fileName)</td></tr>
<tr class="memdesc:ab056c2e429ec5d91b7e838c18cbd0d73"><td class="mdescLeft">&#160;</td><td class="mdescRight">update camera calibrate parameters <a href="#ab056c2e429ec5d91b7e838c18cbd0d73">More...</a><br /></td></tr>
<tr class="separator:ab056c2e429ec5d91b7e838c18cbd0d73"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45e182540ab4bb59b68fb07c23bdd91f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">checkFirmwareVersion</a> (std::string &amp;version)</td></tr>
<tr class="memdesc:a45e182540ab4bb59b68fb07c23bdd91f"><td class="mdescLeft">&#160;</td><td class="mdescRight">check camera's firmware version <a href="#a45e182540ab4bb59b68fb07c23bdd91f">More...</a><br /></td></tr>
<tr class="separator:a45e182540ab4bb59b68fb07c23bdd91f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd0fd0e03ac98f90905ea582e4f397a7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">updateFirmware</a> (std::string fileName)</td></tr>
<tr class="memdesc:abd0fd0e03ac98f90905ea582e4f397a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">update camera's firmware <a href="#abd0fd0e03ac98f90905ea582e4f397a7">More...</a><br /></td></tr>
<tr class="separator:abd0fd0e03ac98f90905ea582e4f397a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_stereo_camera"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_stereo_camera')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_stereo_camera.html">StereoCamera</a></td></tr>
<tr class="memitem:a6d9ac42b50dc07f5f846336ffd29e752 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a> (void)</td></tr>
<tr class="memdesc:a6d9ac42b50dc07f5f846336ffd29e752 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a>. <a href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">More...</a><br /></td></tr>
<tr class="separator:a6d9ac42b50dc07f5f846336ffd29e752 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5caa5f91c77562d8b6183ef153a943c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="ad5caa5f91c77562d8b6183ef153a943c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>StereoCamera</b> (std::string fileName)</td></tr>
<tr class="separator:ad5caa5f91c77562d8b6183ef153a943c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e0d6591990e7f8d175d67e9609c8a4c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="a6e0d6591990e7f8d175d67e9609c8a4c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>StereoCamera</b> (int deviceNode)</td></tr>
<tr class="separator:a6e0d6591990e7f8d175d67e9609c8a4c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b36ce592e0e2bf0850d37681c51ae60 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a> ()</td></tr>
<tr class="memdesc:a2b36ce592e0e2bf0850d37681c51ae60 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> destructor. <a href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">More...</a><br /></td></tr>
<tr class="separator:a2b36ce592e0e2bf0850d37681c51ae60 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47c0d9ee727f13af5d348db9f217a44b inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a> (void)</td></tr>
<tr class="memdesc:a47c0d9ee727f13af5d348db9f217a44b inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera running status <a href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">More...</a><br /></td></tr>
<tr class="separator:a47c0d9ee727f13af5d348db9f217a44b inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb684170c2180eb2109f9eecd1723c1c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a> (int level)</td></tr>
<tr class="memdesc:adb684170c2180eb2109f9eecd1723c1c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera ouput log level <a href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">More...</a><br /></td></tr>
<tr class="separator:adb684170c2180eb2109f9eecd1723c1c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad570580bd5b16ac58831d57ffd23ce5b inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a> (int posNumber)</td></tr>
<tr class="memdesc:ad570580bd5b16ac58831d57ffd23ce5b inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera position number <a href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">More...</a><br /></td></tr>
<tr class="separator:ad570580bd5b16ac58831d57ffd23ce5b inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a110ad0dc21cea5bfa5607752fc858163 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a> (int serialNumber)</td></tr>
<tr class="memdesc:a110ad0dc21cea5bfa5607752fc858163 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera serial number <a href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">More...</a><br /></td></tr>
<tr class="separator:a110ad0dc21cea5bfa5607752fc858163 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa28635e45b1d0ade5353a69e2a7175e4 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a> (int frameRate)</td></tr>
<tr class="memdesc:aa28635e45b1d0ade5353a69e2a7175e4 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera FPS (Frames Per Seconds) <a href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">More...</a><br /></td></tr>
<tr class="separator:aa28635e45b1d0ade5353a69e2a7175e4 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb1ed69d226251cd050b1deab0270af8 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a> (cv::Size frameSize)</td></tr>
<tr class="memdesc:adb1ed69d226251cd050b1deab0270af8 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera frame size <a href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">More...</a><br /></td></tr>
<tr class="separator:adb1ed69d226251cd050b1deab0270af8 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2d8d3a96e0ac426af20a3e88df0167a inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a> (cv::Size frameSize)</td></tr>
<tr class="memdesc:ac2d8d3a96e0ac426af20a3e88df0167a inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set rectification image size <a href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">More...</a><br /></td></tr>
<tr class="separator:ac2d8d3a96e0ac426af20a3e88df0167a inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98d7546631507bcede3c9a850e69db7a inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a> (std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td></tr>
<tr class="memdesc:a98d7546631507bcede3c9a850e69db7a inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera calibration parameters <a href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">More...</a><br /></td></tr>
<tr class="separator:a98d7546631507bcede3c9a850e69db7a inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a105495e27d95f3f905ef1de0f9866c70 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a> (void) const</td></tr>
<tr class="memdesc:a105495e27d95f3f905ef1de0f9866c70 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get log system output level <a href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">More...</a><br /></td></tr>
<tr class="separator:a105495e27d95f3f905ef1de0f9866c70 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34d50c8166cf8f3f76fff5789f8f1eee inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a> (void) const</td></tr>
<tr class="memdesc:a34d50c8166cf8f3f76fff5789f8f1eee inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get camera device node <a href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">More...</a><br /></td></tr>
<tr class="separator:a34d50c8166cf8f3f76fff5789f8f1eee inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab844029084a9a9de0996c1e7b24c258c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a> (void) const</td></tr>
<tr class="memdesc:ab844029084a9a9de0996c1e7b24c258c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera device node <a href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">More...</a><br /></td></tr>
<tr class="separator:ab844029084a9a9de0996c1e7b24c258c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3cb43015d545854892dd2e4057f5b2be inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a> (void) const</td></tr>
<tr class="memdesc:a3cb43015d545854892dd2e4057f5b2be inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera serial number <a href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">More...</a><br /></td></tr>
<tr class="separator:a3cb43015d545854892dd2e4057f5b2be inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac92c3a60ae0c38e203c81bb2a2738eb4 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a> (void) const</td></tr>
<tr class="memdesc:ac92c3a60ae0c38e203c81bb2a2738eb4 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera capture frame rate <a href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">More...</a><br /></td></tr>
<tr class="separator:ac92c3a60ae0c38e203c81bb2a2738eb4 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38c990b26167c2f7823b20f44b1a8fa7 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual cv::Size&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a> (void) const</td></tr>
<tr class="memdesc:a38c990b26167c2f7823b20f44b1a8fa7 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera frame size <a href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">More...</a><br /></td></tr>
<tr class="separator:a38c990b26167c2f7823b20f44b1a8fa7 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8fbb6e1ebd828b1640d43ad7cdc0f9c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a> (cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td></tr>
<tr class="memdesc:ac8fbb6e1ebd828b1640d43ad7cdc0f9c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera raw frame <a href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">More...</a><br /></td></tr>
<tr class="separator:ac8fbb6e1ebd828b1640d43ad7cdc0f9c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa25f48d95ba8d1c71fb0e40b53f68379 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a> (cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td></tr>
<tr class="memdesc:aa25f48d95ba8d1c71fb0e40b53f68379 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera left and right image <a href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">More...</a><br /></td></tr>
<tr class="separator:aa25f48d95ba8d1c71fb0e40b53f68379 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0bd7e3a7ab4fcf2598ac4e780a27cb3 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a> (cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td></tr>
<tr class="memdesc:aa0bd7e3a7ab4fcf2598ac4e780a27cb3 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera depth image <a href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">More...</a><br /></td></tr>
<tr class="separator:aa0bd7e3a7ab4fcf2598ac4e780a27cb3 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed61a02ac44c99be0aa62afea2ad9ed8 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="aed61a02ac44c99be0aa62afea2ad9ed8"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp)</td></tr>
<tr class="separator:aed61a02ac44c99be0aa62afea2ad9ed8 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac571ca8f4dc4783052bdab22f68a1ac1 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="ac571ca8f4dc4783052bdab22f68a1ac1"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (std::vector&lt; <a class="el" href="struct_p_c_l.html">PCLType</a> &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp)</td></tr>
<tr class="separator:ac571ca8f4dc4783052bdab22f68a1ac1 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61ea11e661cca31acb780edbbba1d32e inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a> (std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td></tr>
<tr class="memdesc:a61ea11e661cca31acb780edbbba1d32e inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera calibration paramerters <a href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">More...</a><br /></td></tr>
<tr class="separator:a61ea11e661cca31acb780edbbba1d32e inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a2a8d258ad08a80ab02932d5248850e inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="a6a2a8d258ad08a80ab02932d5248850e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRectStereoFrame</b> (cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim)</td></tr>
<tr class="separator:a6a2a8d258ad08a80ab02932d5248850e inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2730d460983ce6af37a4cf13025b4ed8 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="a2730d460983ce6af37a4cf13025b4ed8"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRectStereoFrame</b> (cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp)</td></tr>
<tr class="separator:a2730d460983ce6af37a4cf13025b4ed8 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe25245d518e12c6f0a685d7da7a2979 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a> (std::string fileName)</td></tr>
<tr class="memdesc:afe25245d518e12c6f0a685d7da7a2979 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">load stereo camera config parameters <a href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">More...</a><br /></td></tr>
<tr class="separator:afe25245d518e12c6f0a685d7da7a2979 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb896942fb7fe1ea33c80ec9dcefa6a0 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a> (std::string fileName)</td></tr>
<tr class="memdesc:afb896942fb7fe1ea33c80ec9dcefa6a0 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">load stereo camera calibration params <a href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">More...</a><br /></td></tr>
<tr class="separator:afb896942fb7fe1ea33c80ec9dcefa6a0 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a568930e8b3668361fedad5233ab5ba47 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a> (std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td></tr>
<tr class="memdesc:a568930e8b3668361fedad5233ab5ba47 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">save stereo camera settings to config file <a href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">More...</a><br /></td></tr>
<tr class="separator:a568930e8b3668361fedad5233ab5ba47 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7611e0d97d57abf36b4fa7dca2a3cfc5 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a> (std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td></tr>
<tr class="memdesc:a7611e0d97d57abf36b4fa7dca2a3cfc5 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">save stereo camera calibration parameters to file <a href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">More...</a><br /></td></tr>
<tr class="separator:a7611e0d97d57abf36b4fa7dca2a3cfc5 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e5146c1d33ab5f4f9a3995b93e3cbc5 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a> (bool udpFlag=false, bool shmFlag=false)</td></tr>
<tr class="memdesc:a4e5146c1d33ab5f4f9a3995b93e3cbc5 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">start stereo camera capture thread <a href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">More...</a><br /></td></tr>
<tr class="separator:a4e5146c1d33ab5f4f9a3995b93e3cbc5 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb6da9140cb988beb753514e7416032b inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a> (void)</td></tr>
<tr class="memdesc:abb6da9140cb988beb753514e7416032b inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">start stereo camera computing disparity thread <a href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">More...</a><br /></td></tr>
<tr class="separator:abb6da9140cb988beb753514e7416032b inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3597295e386dfe27474ff0e9567e6d6c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a> (void)</td></tr>
<tr class="memdesc:a3597295e386dfe27474ff0e9567e6d6c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop stereo camera computing disparity thread <a href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">More...</a><br /></td></tr>
<tr class="separator:a3597295e386dfe27474ff0e9567e6d6c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c9f54bf349fd4dc5a8ba9fd26f22c31 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a> (void)</td></tr>
<tr class="memdesc:a8c9f54bf349fd4dc5a8ba9fd26f22c31 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop stereo camera capture thread <a href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">More...</a><br /></td></tr>
<tr class="separator:a8c9f54bf349fd4dc5a8ba9fd26f22c31 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="af8a5e0c70f99096ecd378680d2f1ec27"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af8a5e0c70f99096ecd378680d2f1ec27">&#9670;&nbsp;</a></span>UnitreeCamera()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">UnitreeCamera::UnitreeCamera </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> init unitree stereo camera object for default parameters. </p>
<p><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> constructor overload.</p>
<p>default constructor </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><a class="code" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>();</div></div><!-- fragment --></dd></dl>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.</p>
<p>use camera config file to init unitree stereo camera </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>camera config file, include file path, for example: ~/test/stereoConfig.yaml </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><a class="code" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>(<span class="stringliteral">&quot;path_to/config.yaml&quot;</span>);</div></div><!-- fragment --></dd></dl>
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.</p>
<p>use camera device node number to init unitree stereo camera </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">deviceNode</td><td>camera device node, for example: /dev/video0, camera device node: 0 </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><a class="code" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(0); <span class="comment">// for /dev/video0</span></div></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="aefb112b0fa677221163ddd18ccf08d8c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aefb112b0fa677221163ddd18ccf08d8c">&#9670;&nbsp;</a></span>~UnitreeCamera()</h2>
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<td class="memname">UnitreeCamera::~UnitreeCamera </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> destructor. </p>
<p>release all unitree stereo camera resource </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd>automatically called when <a class="el" href="class_unitree_camera.html">UnitreeCamera</a> object released </dd></dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a45e182540ab4bb59b68fb07c23bdd91f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a45e182540ab4bb59b68fb07c23bdd91f">&#9670;&nbsp;</a></span>checkFirmwareVersion()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">bool UnitreeCamera::checkFirmwareVersion </td>
<td>(</td>
<td class="paramtype">std::string &amp;&#160;</td>
<td class="paramname"><em>version</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>check camera's firmware version </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">version</td><td>firmware version </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="ab056c2e429ec5d91b7e838c18cbd0d73"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab056c2e429ec5d91b7e838c18cbd0d73">&#9670;&nbsp;</a></span>updateCalibParams2Flash()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool UnitreeCamera::updateCalibParams2Flash </td>
<td>(</td>
<td class="paramtype">std::string&#160;</td>
<td class="paramname"><em>fileName</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>update camera calibrate parameters </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>calibration parameters file </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<a id="abd0fd0e03ac98f90905ea582e4f397a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abd0fd0e03ac98f90905ea582e4f397a7">&#9670;&nbsp;</a></span>updateFirmware()</h2>
<div class="memitem">
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<td class="memname">bool UnitreeCamera::updateFirmware </td>
<td>(</td>
<td class="paramtype">std::string&#160;</td>
<td class="paramname"><em>fileName</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>update camera's firmware </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>firmware file </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
<dl class="section note"><dt>Note</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/<a class="el" href="_unitree_camera_s_d_k_8hpp_source.html">UnitreeCameraSDK.hpp</a></li>
<li>src/UnitreeCameraSDK.cc</li>
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<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
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<div id="projectbrief">unitree stereo camra apis</div>
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<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_event_dispatcher.html">EventDispatcher</a></li> </ul>
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<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>EventDispatcher</b>(const std::vector&lt; EventHandler *&gt; &amp;h) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>handlers</b> (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_button_down</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_button_up</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_close</b>(GLWindow &amp;win) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_key_down</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_key_up</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_mouse_move</b>(GLWindow &amp;win, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_mouse_wheel</b>(GLWindow &amp;win, int state, int x, int y, int dx, int dy) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_resize</b>(GLWindow &amp;win, int x, int y, int w, int h) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_text</b>(GLWindow &amp;win, const char *text, int len) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>~EventHandler</b>() (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>EventDispatcher</b> (const std::vector&lt; <a class="el" href="structglwindow_1_1_event_handler.html">EventHandler</a> *&gt; &amp;h)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_key_down</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, int key)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_key_up</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, int key)</td></tr>
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const std::vector&lt; <a class="el" href="structglwindow_1_1_event_handler.html">EventHandler</a> * &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>handlers</b></td></tr>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>examples/glViewer/<a class="el" href="glwindow_8hpp_source.html">glwindow.hpp</a></li>
<li>examples/glViewer/glwindow_x11.cpp</li>
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<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>active_context</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>add_handler</b>(EventHandler *handler) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_window</b>(GLWindow *win) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>alive</b>() const (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>all_windows</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>destroy</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>draw_text</b>(double x, double y, const char *text, int xywh[4]=0) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>GLWindow</b>(int w=-1, int h=-1, const char *title=0) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>handle_all_events</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>handle_events</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>handlers</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>height</b>() const (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>make_current</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>pop_context</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>prev_active</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>push_context</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>remove_handler</b>(EventHandler *handler) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>remove_window</b>(GLWindow *win) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_position</b>(int x, int y) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>set_size</b>(int w, int h) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_title</b>(const char *title) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>swap_buffers</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>sys_state</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>visible</b>() const (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>width</b>() const (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>~GLWindow</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a></li> </ul>
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<hr/>The documentation for this class was generated from the following files:<ul>
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<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
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<div id="projectbrief">unitree stereo camra apis</div>
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<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_scene_window.html">SceneWindow</a></li> </ul>
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<div class="title">glwindow::SceneWindow Member List</div> </div>
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<p>This is the complete list of members for <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>, including all inherited members.</p>
<table class="directory">
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>drag_btn</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>dragging</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>drawing</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>finish_draw</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>inv_h0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>inv_w0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_button_down</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_button_up</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_close</b>(GLWindow &amp;win) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_key_down</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_key_up</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_mouse_move</b>(GLWindow &amp;win, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_mouse_wheel</b>(GLWindow &amp;win, int state, int x, int y, int dx, int dy) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>on_resize</b>(GLWindow &amp;win, int x, int y, int w, int h) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_text</b>(GLWindow &amp;win, const char *text, int len) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>SceneWindow</b>(int width, int height, const char *title) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>start_draw</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>update</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>viewpoint</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>vp0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>win</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>x0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>y0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>~EventHandler</b>() (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~SceneWindow</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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<div id="projectname">UnitreeCameraSDK
&#160;<span id="projectnumber">1.0.1</span>
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<div id="projectbrief">unitree stereo camra apis</div>
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<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_scene_window.html">SceneWindow</a></li> </ul>
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<a href="#nested-classes">Classes</a> &#124;
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_text</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, const char *text, int len)</td></tr>
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<hr/>The documentation for this class was generated from the following files:<ul>
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