From 55822177339f05154f34d3c1a6b89e31312ec80a Mon Sep 17 00:00:00 2001
From: camelliamc <16583354+camelliamc@user.noreply.gitee.com>
Date: Mon, 18 May 2026 15:49:39 +0800
Subject: [PATCH] =?UTF-8?q?=E9=97=AA=E5=85=89=E6=A3=80=E6=B5=8B=E6=A8=A1?=
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diff --git a/src/软件电脑端/css/style.css b/src/软件电脑端/css/style.css
index 400f9e4..9ea01d7 100644
--- a/src/软件电脑端/css/style.css
+++ b/src/软件电脑端/css/style.css
@@ -404,3 +404,13 @@ body {
     .dashboard-body { grid-template-columns: 1fr; }
     .monitor-panel { width: 280px; }
 }
+
+/* ===== 闪光检测面板 ===== */
+.flash-card { flex-shrink: 0; }
+.flash-body { padding: 12px; }
+.flash-data { margin: 10px 0; }
+.flash-avoidance-btns { display: flex; gap: 8px; }
+.flash-avoidance-btns .btn { flex: 1; }
+
+.tag-secondary { background: #f0f0f0; color: #999; }
+.hidden { display: none !important; }
diff --git a/src/软件电脑端/index.html b/src/软件电脑端/index.html
index b3035dd..9f3bfe6 100644
--- a/src/软件电脑端/index.html
+++ b/src/软件电脑端/index.html
@@ -137,6 +137,23 @@
                             <button class="btn btn-danger wide" id="btn-mark-destroyed" disabled>标记无人机被摧毁</button>
                         </div>
                     </div>
+                    <div class="card flash-card">
+                        <div class="card-header">
+                            <span class="card-title">闪光检测</span>
+                            <span id="flash-status" class="tag tag-secondary">未启用</span>
+                        </div>
+                        <div class="flash-body">
+                            <button id="btn-flash-enable" class="btn btn-secondary wide" disabled>启用闪光检测</button>
+                            <div class="data-grid flash-data">
+                                <div class="data-item"><span class="data-label">光斑位置</span><span class="data-value" id="flash-position">--</span></div>
+                                <div class="data-item"><span class="data-label">检测面积</span><span class="data-value" id="flash-area">--</span></div>
+                            </div>
+                            <div class="flash-avoidance-btns">
+                                <button id="btn-avoidance-enable" class="btn btn-warning" disabled>启用避闪光</button>
+                                <button id="btn-avoidance-disable" class="btn btn-secondary" disabled>禁用避闪光</button>
+                            </div>
+                        </div>
+                    </div>
                     <div class="card soldier-card">
                         <div class="card-header">
                             <span class="card-title">在线士兵</span>
@@ -183,6 +200,8 @@
     <script src="/js/roslib.min.js"></script>
     <script src="/js/map.js"></script>
     <script src="/js/websocket.js"></script>
+    <script src="/js/flash_detector.js"></script>
+    <script src="/js/flash_avoidance.js"></script>
     <script src="/js/ui.js"></script>
 </body>
 </html>
diff --git a/src/闪光检测/FrontEnd/js/flash_avoidance.js b/src/软件电脑端/js/flash_avoidance.js
similarity index 96%
rename from src/闪光检测/FrontEnd/js/flash_avoidance.js
rename to src/软件电脑端/js/flash_avoidance.js
index 9dfbdb7..32e2a56 100644
--- a/src/闪光检测/FrontEnd/js/flash_avoidance.js
+++ b/src/软件电脑端/js/flash_avoidance.js
@@ -1,11 +1,11 @@
 /**
  * Flash Avoidance Module - 避光斑决策模块
  * 基于光斑检测结果，执行垂直结合避光斑策略
- * 
+ *
  * 避光斑策略:
  * - 水平躲避: 根据光斑相对相机的左右位置，反向水平移动
  * - 垂直躲避: 根据光斑相对相机的上下位置，反向垂直移动
- * 
+ *
  * 触发条件:
  * - 光斑被检测到且面积超过阈值
  */
@@ -18,20 +18,20 @@ const FlashAvoidanceModule = (() => {
         avoidanceDistance: 3.0,       // 避光斑移动距离 (米)
         avoidanceHoldTime: 2000,      // 避光斑后悬停时间 (毫秒)
         minDetectionArea: 100,        // 最小检测面积阈值
-        
+
         // 图像尺寸 (需要根据实际相机调整)
         imageWidth: 640,
         imageHeight: 480,
-        
+
         // 阈值
         horizontalThreshold: 0.2,     // 水平方向检测阈值 (-1 ~ 1)
         verticalThreshold: 0.2,        // 垂直方向检测阈值 (-1 ~ 1)
-        
+
         // 防抖
         debounceCount: 3,             // 需要连续检测N帧才触发避光斑
         debounceCooldown: 5000,        // 避光斑冷却时间 (毫秒)
     };
-    
+
     // 状态
     let state = {
         isAvoiding: false,            // 是否正在执行避光斑
@@ -39,15 +39,15 @@ const FlashAvoidanceModule = (() => {
         lastAvoidanceTime: 0,         // 上次避光斑时间
         detectionCount: 0,            // 连续检测计数
     };
-    
+
     // 回调函数
     let onStatusUpdate = null;
     let onAvoidanceStart = null;
     let onAvoidanceEnd = null;
-    
+
     // 外部依赖 (由主模块注入)
     let wsModule = null;
-    
+
     /**
      * 初始化模块
      * @param {Object} options - 配置选项
@@ -61,23 +61,23 @@ const FlashAvoidanceModule = (() => {
         onStatusUpdate = options.onStatusUpdate || null;
         onAvoidanceStart = options.onAvoidanceStart || null;
         onAvoidanceEnd = options.onAvoidanceEnd || null;
-        
+
         if (options.config) {
             Object.assign(config, options.config);
         }
-        
+
         console.log('[Flash Avoidance] 模块初始化完成');
         console.log('[Flash Avoidance] 避光斑距离:', config.avoidanceDistance, 'm');
         console.log('[Flash Avoidance] 最小检测面积:', config.minDetectionArea);
     }
-    
+
     /**
      * 更新配置
      */
     function updateConfig(newConfig) {
         Object.assign(config, newConfig);
     }
-    
+
     /**
      * 启用/禁用避光斑
      */
@@ -90,7 +90,7 @@ const FlashAvoidanceModule = (() => {
             });
         }
     }
-    
+
     /**
      * 状态回调
      */
@@ -98,7 +98,7 @@ const FlashAvoidanceModule = (() => {
     function setStatusCallback(callback) {
         statusCallback = callback;
     }
-    
+
     /**
      * 处理光斑检测数据
      * @param {Object} detectionData - 检测数据 {cx, cy, area, sightX, sightY}
@@ -108,40 +108,40 @@ const FlashAvoidanceModule = (() => {
         if (!config.enabled) {
             return null;
         }
-        
+
         if (state.isAvoiding) {
             return null;  // 正在执行避光斑，忽略新检测
         }
-        
+
         // 检查冷却时间
         const now = Date.now();
         if (now - state.lastAvoidanceTime < config.debounceCooldown) {
             return null;  // 冷却中
         }
-        
+
         // 检查面积阈值
         if (detectionData.area < config.minDetectionArea) {
             state.detectionCount = 0;
             return null;
         }
-        
+
         // 防抖计数
         state.detectionCount++;
         if (state.detectionCount < config.debounceCount) {
             return null;  // 还未达到连续检测阈值
         }
-        
+
         // 计算相对位置
         const centerX = config.imageWidth / 2;
         const centerY = config.imageHeight / 2;
-        
+
         const relativeX = (detectionData.cx - centerX) / centerX;
         const relativeY = (detectionData.cy - centerY) / centerY;
-        
+
         // 判断是否需要避光斑
         let needAvoidance = false;
         let avoidX = 0, avoidY = 0, avoidZ = 0;
-        
+
         // 水平避光斑 (X方向)
         if (Math.abs(relativeX) > config.horizontalThreshold) {
             // 光斑在右侧，无人机向左移动
@@ -149,7 +149,7 @@ const FlashAvoidanceModule = (() => {
             avoidX = -relativeX * config.avoidanceDistance;
             needAvoidance = true;
         }
-        
+
         // 垂直避光斑 (Z方向)
         if (Math.abs(relativeY) > config.verticalThreshold) {
             // 光斑在下方(cy > centerY)，无人机向上移动
@@ -157,12 +157,12 @@ const FlashAvoidanceModule = (() => {
             avoidZ = relativeY * config.avoidanceDistance;
             needAvoidance = true;
         }
-        
+
         if (needAvoidance) {
             state.isAvoiding = true;
             state.lastAvoidanceTime = now;
             state.detectionCount = 0;
-            
+
             const avoidanceCmd = {
                 type: 'flash_avoidance',
                 avoidX: avoidX,
@@ -176,35 +176,35 @@ const FlashAvoidanceModule = (() => {
                     relativeY: relativeY
                 }
             };
-            
+
             if (onAvoidanceStart) {
                 onAvoidanceStart(avoidanceCmd);
             }
-            
+
             if (statusCallback) {
                 statusCallback({
                     type: 'warning',
                     message: `检测到光斑，执行避光斑! 偏移: X=${avoidX.toFixed(1)}m, Z=${avoidZ.toFixed(1)}m`
                 });
             }
-            
+
             return avoidanceCmd;
         }
-        
+
         return null;
     }
-    
+
     /**
      * 结束避光斑
      */
     function endAvoidance() {
         if (state.isAvoiding) {
             state.isAvoiding = false;
-            
+
             if (onAvoidanceEnd) {
                 onAvoidanceEnd();
             }
-            
+
             if (statusCallback) {
                 statusCallback({
                     type: 'info',
@@ -213,14 +213,14 @@ const FlashAvoidanceModule = (() => {
             }
         }
     }
-    
+
     /**
      * 检查是否正在执行避光斑
      */
     function isAvoiding() {
         return state.isAvoiding;
     }
-    
+
     /**
      * 计算避光斑目标位置
      * @param {Object} currentPos - 当前无人机位置 {x, y, z}
@@ -234,14 +234,14 @@ const FlashAvoidanceModule = (() => {
             z: currentPos.z + avoidanceCmd.avoidZ
         };
     }
-    
+
     /**
      * 获取当前状态
      */
     function getState() {
         return { ...state };
     }
-    
+
     /**
      * 重置状态
      */
@@ -253,7 +253,7 @@ const FlashAvoidanceModule = (() => {
             detectionCount: 0
         };
     }
-    
+
     return {
         init,
         updateConfig,
diff --git a/src/闪光检测/FrontEnd/js/flash_detector.js b/src/软件电脑端/js/flash_detector.js
similarity index 96%
rename from src/闪光检测/FrontEnd/js/flash_detector.js
rename to src/软件电脑端/js/flash_detector.js
index d726415..599882d 100644
--- a/src/闪光检测/FrontEnd/js/flash_detector.js
+++ b/src/软件电脑端/js/flash_detector.js
@@ -1,7 +1,7 @@
 /**
  * Flash Detector Module - 光斑检测订阅模块
  * 通过 rosbridge_server 订阅光斑检测结果
- * 
+ *
  * 订阅的话题:
  *   /flash_detector/flash_detected   (std_msgs/Bool) - 是否检测到光斑
  *   /flash_detector/detection       (std_msgs/Float32MultiArray) - [cx, cy, area, sight_x, sight_y]
@@ -11,11 +11,11 @@ const FlashDetectorModule = (() => {
     let ros = null;
     let flashDetectedSub = null;
     let detectionSub = null;
-    
+
     // 回调函数
     let onFlashDetected = null;
     let onDetectionData = null;
-    
+
     // 检测状态
     let flashDetected = false;
     let detectionData = {
@@ -25,11 +25,11 @@ const FlashDetectorModule = (() => {
         sightX: 0,
         sightY: 0
     };
-    
+
     // 图像尺寸 (默认 640x480，需要根据实际相机调整)
     let imageWidth = 640;
     let imageHeight = 480;
-    
+
     /**
      * 初始化模块
      * @param {ROSLIB.Ros} rosInstance - ROS 连接实例
@@ -41,18 +41,18 @@ const FlashDetectorModule = (() => {
         ros = rosInstance;
         onFlashDetected = callbacks.onFlashDetected || null;
         onDetectionData = callbacks.onDetectionData || null;
-        
+
         // 设置图像尺寸 (可选)
         if (callbacks.imageWidth) imageWidth = callbacks.imageWidth;
         if (callbacks.imageHeight) imageHeight = callbacks.imageHeight;
-        
+
         setupSubscriptions();
-        
+
         console.log('[Flash Detector] 模块初始化完成');
         console.log('[Flash Detector] 订阅话题: /flash_detector/flash_detected');
         console.log('[Flash Detector] 订阅话题: /flash_detector/detection');
     }
-    
+
     /**
      * 设置订阅
      */
@@ -63,22 +63,22 @@ const FlashDetectorModule = (() => {
             name: '/flash_detector/flash_detected',
             messageType: 'std_msgs/Bool'
         });
-        
+
         flashDetectedSub.subscribe((msg) => {
             flashDetected = msg.data;
-            
+
             if (onFlashDetected) {
                 onFlashDetected(msg.data);
             }
         });
-        
+
         // 订阅检测数据
         detectionSub = new ROSLIB.Topic({
             ros: ros,
             name: '/flash_detector/detection',
             messageType: 'std_msgs/Float32MultiArray'
         });
-        
+
         detectionSub.subscribe((msg) => {
             if (msg.data && msg.data.length >= 5) {
                 detectionData = {
@@ -88,28 +88,28 @@ const FlashDetectorModule = (() => {
                     sightX: msg.data[3],
                     sightY: msg.data[4]
                 };
-                
+
                 if (onDetectionData) {
                     onDetectionData(detectionData);
                 }
             }
         });
     }
-    
+
     /**
      * 获取当前检测状态
      */
     function isFlashDetected() {
         return flashDetected;
     }
-    
+
     /**
      * 获取当前检测数据
      */
     function getDetectionData() {
         return { ...detectionData };
     }
-    
+
     /**
      * 计算相对位置 (相对于图像中心)
      * @returns {Object} {x: -1~1 (负值=左侧), y: -1~1 (负值=上方)}
@@ -118,16 +118,16 @@ const FlashDetectorModule = (() => {
         if (imageWidth === 0 || imageHeight === 0) {
             return { x: 0, y: 0 };
         }
-        
+
         const centerX = imageWidth / 2;
         const centerY = imageHeight / 2;
-        
+
         return {
             x: (detectionData.cx - centerX) / centerX,  // -1 (左) ~ 1 (右)
             y: (detectionData.cy - centerY) / centerY    // -1 (上) ~ 1 (下)
         };
     }
-    
+
     /**
      * 计算视线偏移角度 (弧度)
      * @returns {Object} {x: radians, y: radians}
@@ -138,7 +138,7 @@ const FlashDetectorModule = (() => {
             y: detectionData.sightY
         };
     }
-    
+
     /**
      * 设置图像尺寸 (用于计算相对位置)
      */
@@ -146,7 +146,7 @@ const FlashDetectorModule = (() => {
         imageWidth = width;
         imageHeight = height;
     }
-    
+
     /**
      * 关闭模块
      */
@@ -161,7 +161,7 @@ const FlashDetectorModule = (() => {
         }
         console.log('[Flash Detector] 模块已关闭');
     }
-    
+
     return {
         init,
         isFlashDetected,
diff --git a/src/软件电脑端/js/ui.js b/src/软件电脑端/js/ui.js
index 75571cc..a0fae94 100644
--- a/src/软件电脑端/js/ui.js
+++ b/src/软件电脑端/js/ui.js
@@ -1,7 +1,7 @@
 /**
  * UI 交互模块 — 智途投送电脑端
  * 实机直连模式: 浏览器 ──roslibjs──► rosbridge ──MAVROS──► MAVLink ──► PX4
- * 功能: 任务调度、无人机监控、士兵位置追踪、危险区域标记
+ * 功能: 任务调度、无人机监控、士兵位置追踪、危险区域标记、闪光检测
  */
 
 const UIModule = (() => {
@@ -11,6 +11,8 @@ const UIModule = (() => {
     let missionPaused = false;
     let mapInited = false;
     let currentPage = 'dashboard';
+    let flashDetectionEnabled = false;
+    let flashAvoidanceEnabled = false;
 
     // ---- 调度数据 ----
     const BASE_LOCATION = { lat: 30.0000, lng: 120.0000, name: '补给基地' };
@@ -65,6 +67,11 @@ const UIModule = (() => {
         // 连接按钮
         document.getElementById('btn-connect').addEventListener('click', onConnect);
 
+        // 闪光检测按钮
+        document.getElementById('btn-flash-enable').addEventListener('click', onEnableFlashDetection);
+        document.getElementById('btn-avoidance-enable').addEventListener('click', onEnableFlashAvoidance);
+        document.getElementById('btn-avoidance-disable').addEventListener('click', onDisableFlashAvoidance);
+
         // 初始化 WsModule
         WsModule.init();
 
@@ -494,6 +501,107 @@ const UIModule = (() => {
         ).join('');
     }
 
+    // =============== 闪光检测功能 ===============
+
+    function onEnableFlashDetection() {
+        if (!droneConnected) {
+            addLog('warning', '请先连接无人机');
+            return;
+        }
+
+        // 初始化闪光检测模块
+        if (typeof FlashDetectorModule !== 'undefined') {
+            FlashDetectorModule.init(WsModule.getRos(), {
+                onFlashDetected: (detected) => {
+                    const statusEl = document.getElementById('flash-status');
+                    if (detected) {
+                        statusEl.className = 'tag tag-danger';
+                        statusEl.textContent = '检测到闪光';
+                    }
+                },
+                onDetectionData: (data) => {
+                    // 更新闪光位置显示
+                    document.getElementById('flash-position').textContent = '(' + data.cx.toFixed(0) + ', ' + data.cy.toFixed(0) + ')';
+                    document.getElementById('flash-area').textContent = data.area.toFixed(0);
+
+                    // 如果启用了避闪光，处理检测数据
+                    if (flashAvoidanceEnabled && typeof FlashAvoidanceModule !== 'undefined') {
+                        const avoidanceCmd = FlashAvoidanceModule.processDetection(data);
+                        if (avoidanceCmd) {
+                            executeFlashAvoidance(avoidanceCmd);
+                        }
+                    }
+                }
+            });
+
+            flashDetectionEnabled = true;
+            document.getElementById('btn-flash-enable').classList.add('hidden');
+            document.getElementById('flash-status').className = 'tag tag-success';
+            document.getElementById('flash-status').textContent = '已启用';
+            document.getElementById('btn-avoidance-enable').disabled = false;
+
+            addLog('success', '闪光检测已启用');
+        } else {
+            addLog('error', '闪光检测模块未加载');
+        }
+    }
+
+    function onEnableFlashAvoidance() {
+        if (!flashDetectionEnabled) {
+            addLog('warning', '请先启用闪光检测');
+            return;
+        }
+
+        if (typeof FlashAvoidanceModule !== 'undefined') {
+            FlashAvoidanceModule.init({
+                wsModule: WsModule,
+                onStatusUpdate: (data) => addLog(data.type, data.message)
+            });
+
+            FlashAvoidanceModule.setStatusCallback((data) => addLog(data.type, data.message));
+            FlashAvoidanceModule.setEnabled(true);
+
+            flashAvoidanceEnabled = true;
+            document.getElementById('btn-avoidance-enable').classList.add('hidden');
+            document.getElementById('btn-avoidance-disable').disabled = false;
+
+            addLog('success', '避闪光已启用');
+        }
+    }
+
+    function onDisableFlashAvoidance() {
+        if (typeof FlashAvoidanceModule !== 'undefined') {
+            FlashAvoidanceModule.setEnabled(false);
+            flashAvoidanceEnabled = false;
+            document.getElementById('btn-avoidance-enable').classList.remove('hidden');
+            document.getElementById('btn-avoidance-disable').disabled = true;
+            addLog('info', '避闪光已禁用');
+        }
+    }
+
+    function executeFlashAvoidance(avoidanceCmd) {
+        // 获取当前无人机位置
+        const currentPos = WsModule.getLocalPosition ? WsModule.getLocalPosition() : { x: 0, y: 0, z: 0 };
+
+        // 计算避闪光目标位置
+        const targetPos = {
+            x: currentPos.x + avoidanceCmd.avoidX,
+            y: currentPos.y + avoidanceCmd.avoidY,
+            z: currentPos.z + avoidanceCmd.avoidZ
+        };
+
+        // 发布新的位置设定值
+        WsModule.publishSetpoint(targetPos.x, targetPos.y, targetPos.z);
+
+        addLog('warning', '执行避闪光: 移动到 (' + targetPos.x.toFixed(1) + ', ' + targetPos.y.toFixed(1) + ', ' + targetPos.z.toFixed(1) + ')');
+
+        // 2秒后返回原位置或继续任务
+        setTimeout(() => {
+            FlashAvoidanceModule.endAvoidance();
+            addLog('info', '避闪光完成，返回正常控制');
+        }, 2000);
+    }
+
     // =============== WsModule 回调 ===============
 
     function onTelemetry(data) {
@@ -534,6 +642,7 @@ const UIModule = (() => {
             document.getElementById('btn-connect').disabled = true;
             document.getElementById('monitor-status').textContent = '待命';
             document.getElementById('monitor-status').className = 'tag tag-success';
+            document.getElementById('btn-flash-enable').disabled = false;
             updateMonitorControls();
         }
 
@@ -570,12 +679,33 @@ const UIModule = (() => {
         droneConnected = false;
         missionRunning = false;
         missionPaused = false;
+        flashDetectionEnabled = false;
+        flashAvoidanceEnabled = false;
+
         document.getElementById('conn-dot').classList.remove('connected');
         document.getElementById('conn-text').textContent = '未连接';
         document.getElementById('btn-connect').textContent = '连接';
         document.getElementById('btn-connect').disabled = false;
         document.getElementById('monitor-status').textContent = '离线';
         document.getElementById('monitor-status').className = 'tag tag-danger';
+        document.getElementById('btn-flash-enable').disabled = true;
+        document.getElementById('btn-flash-enable').classList.remove('hidden');
+        document.getElementById('btn-avoidance-enable').disabled = true;
+        document.getElementById('btn-avoidance-enable').classList.remove('hidden');
+        document.getElementById('btn-avoidance-disable').disabled = true;
+        document.getElementById('flash-status').className = 'tag tag-secondary';
+        document.getElementById('flash-status').textContent = '未启用';
+        document.getElementById('flash-position').textContent = '--';
+        document.getElementById('flash-area').textContent = '--';
+
+        // 关闭闪光检测模块
+        if (typeof FlashDetectorModule !== 'undefined') {
+            FlashDetectorModule.shutdown();
+        }
+        if (typeof FlashAvoidanceModule !== 'undefined') {
+            FlashAvoidanceModule.reset();
+        }
+
         updateMonitorControls();
         addLog('error', '无人机连接断开');
     }
diff --git a/src/软件电脑端/js/websocket.js b/src/软件电脑端/js/websocket.js
index bef1a1d..d60d5a3 100644
--- a/src/软件电脑端/js/websocket.js
+++ b/src/软件电脑端/js/websocket.js
@@ -685,6 +685,16 @@ const WsModule = (() => {
         callArmingWithRetry(false, 2, () => {});
     }
 
+    // 获取 ROS 连接实例 (供闪光检测模块使用)
+    function getRos() {
+        return ros;
+    }
+
+    // 获取本地位置 (供闪光检测模块使用)
+    function getLocalPosition() {
+        return telemetry.localPos;
+    }
+
     return {
         init,
         isConnected,
@@ -696,6 +706,9 @@ const WsModule = (() => {
         returnHome,
         land,
         arm,
-        disarm
+        disarm,
+        getRos,
+        getLocalPosition,
+        publishSetpoint
     };
 })();
diff --git a/src/闪光检测/FrontEnd/.claude/settings.local.json b/src/闪光检测/FrontEnd/.claude/settings.local.json
deleted file mode 100644
index 640f442..0000000
--- a/src/闪光检测/FrontEnd/.claude/settings.local.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "permissions": {
-    "allow": [
-      "Bash(curl -sL \"https://unpkg.com/roslib@2.1.0/dist/\")",
-      "Bash(curl -sL \"https://unpkg.com/roslib@1.3.0/build/roslib.min.js\" -o \"d:/29578/Documents/Study/computer/S_E/软件体系结构与设计/软件前端/js/roslib.min.js\" -w \"%{http_code} %{size_download}\")"
-    ]
-  }
-}
diff --git a/src/闪光检测/FrontEnd/css/style.css b/src/闪光检测/FrontEnd/css/style.css
deleted file mode 100644
index b3e15fc..0000000
--- a/src/闪光检测/FrontEnd/css/style.css
+++ /dev/null
@@ -1,383 +0,0 @@
-/* ===== 全局样式 ===== */
-* {
-    margin: 0;
-    padding: 0;
-    box-sizing: border-box;
-}
-
-body {
-    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'PingFang SC', 'Microsoft YaHei', sans-serif;
-    background: #f0f2f5;
-    height: 100vh;
-    display: flex;
-    flex-direction: column;
-    overflow: hidden;
-    color: #333;
-}
-
-/* ===== 顶部状态栏 ===== */
-.top-bar {
-    display: flex;
-    justify-content: space-between;
-    align-items: center;
-    height: 48px;
-    padding: 0 16px;
-    background: #1a1a2e;
-    color: #e0e0e0;
-    flex-shrink: 0;
-    z-index: 1000;
-}
-
-.top-bar-left {
-    display: flex;
-    align-items: center;
-    gap: 16px;
-}
-
-.logo {
-    font-size: 15px;
-    font-weight: 700;
-    color: #fff;
-    letter-spacing: 1px;
-}
-
-.status-item {
-    font-size: 13px;
-    color: #aaa;
-}
-
-.status-item strong {
-    color: #e0e0e0;
-}
-
-.top-bar-right {
-    display: flex;
-    align-items: center;
-    gap: 8px;
-}
-
-.top-bar-right input {
-    width: 220px;
-    padding: 5px 10px;
-    border: 1px solid #444;
-    border-radius: 4px;
-    background: #2a2a3e;
-    color: #e0e0e0;
-    font-size: 13px;
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-
-/* ===== 连接模式切换 ===== */
-.conn-mode-group {
-    display: flex;
-    border-radius: 4px;
-    overflow: hidden;
-    border: 1px solid #444;
-}
-
-.mode-btn {
-    padding: 4px 12px;
-    background: #2a2a3e;
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-    cursor: pointer;
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-    transition: all 0.2s;
-}
-
-.mode-btn:hover { color: #ddd; }
-
-.mode-btn.active {
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-
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-    font-size: 11px;
-    padding: 2px 8px;
-    border-radius: 3px;
-    background: #2a2a3e;
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-
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-.tag {
-    display: inline-block;
-    padding: 2px 10px;
-    border-radius: 10px;
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-}
-
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-.tag-warning { background: #fffbe6; color: #faad14; }
-.tag-info    { background: #e6f7ff; color: #007aff; }
-
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-
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-.btn-group {
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-    gap: 8px;
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-.main-content {
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-    min-height: 0;
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-
-/* ===== 地图 ===== */
-.map-container {
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-.control-panel {
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-.panel-header span:last-child {
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-}
-
-.log-entry .time { color: #666; margin-right: 8px; }
-.log-entry.success { color: #52c41a; }
-.log-entry.error   { color: #ff4d4f; }
-.log-entry.warning { color: #faad14; }
-.log-entry.info    { color: #aaa; }
-
-/* ===== Leaflet 自定义 ===== */
-.drone-icon {
-    width: 24px;
-    height: 24px;
-    position: relative;
-}
-
-.drone-icon-inner {
-    width: 0;
-    height: 0;
-    border-left: 10px solid transparent;
-    border-right: 10px solid transparent;
-    border-bottom: 20px solid #007aff;
-    position: absolute;
-    top: 2px;
-    left: 2px;
-    transform-origin: center 60%;
-}
diff --git a/src/闪光检测/FrontEnd/index.html b/src/闪光检测/FrontEnd/index.html
deleted file mode 100644
index de9973f..0000000
--- a/src/闪光检测/FrontEnd/index.html
+++ /dev/null
@@ -1,145 +0,0 @@
-<!DOCTYPE html>
-<html lang="zh-CN">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>P600 无人机定点巡航控制系统</title>
-    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
-    <link rel="stylesheet" href="/css/style.css" />
-</head>
-<body>
-    <!-- 顶部状态栏 -->
-    <header class="top-bar">
-        <div class="top-bar-left">
-            <span class="logo">P600 定点巡航控制系统</span>
-            <span id="conn-status" class="tag tag-danger">未连接</span>
-            <span class="status-item">模式: <strong id="flight-mode">--</strong></span>
-            <span class="status-item">电量: <strong id="battery">--%</strong></span>
-            <span class="status-item">GPS: <strong id="gps-status">--</strong></span>
-            <span class="status-item">速度: <strong id="speed">-- m/s</strong></span>
-            <span class="status-item">高度: <strong id="altitude">-- m</strong></span>
-        </div>
-        <div class="top-bar-right">
-            <div class="conn-mode-group">
-                <button id="btn-mode-sim" class="mode-btn active" title="Prometheus SITL 仿真 (rosbridge WebSocket)">仿真模式</button>
-                <button id="btn-mode-real" class="mode-btn" title="P600 实机 WiFi 数传 (rosbridge WebSocket)">实机模式</button>
-            </div>
-            <input type="text" id="drone-url" value="ws://localhost:9090" placeholder="rosbridge 地址" />
-            <button id="btn-connect" class="btn btn-primary">连接无人机</button>
-            <span id="conn-mode-tag" class="conn-mode-tag">rosbridge</span>
-        </div>
-    </header>
-
-    <!-- 主内容区 -->
-    <div class="main-content">
-        <!-- 地图区域 -->
-        <div id="map" class="map-container"></div>
-
-        <!-- 右侧控制面板 -->
-        <aside class="control-panel">
-            <!-- 航点列表 -->
-            <div class="panel-section">
-                <div class="panel-header">
-                    <span>航点列表</span>
-                    <span id="wp-count">0 个航点</span>
-                </div>
-                <div id="waypoint-list" class="waypoint-list">
-                    <div class="empty-hint">在地图上点击以添加航点</div>
-                </div>
-                <div class="wp-params">
-                    <label>默认高度: <input type="number" id="default-alt" value="15" min="1" max="100" /> 米</label>
-                    <label>默认悬停: <input type="number" id="default-hold" value="0" min="0" max="60" /> 秒</label>
-                </div>
-            </div>
-
-            <!-- 任务操作 -->
-            <div class="panel-section">
-                <div class="panel-header">任务操作</div>
-                <div class="btn-group">
-                    <button id="btn-upload" class="btn btn-primary wide" disabled>上传任务</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-start" class="btn btn-success wide" disabled>开始任务</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-pause" class="btn btn-warning" disabled>暂停</button>
-                    <button id="btn-resume" class="btn btn-success" disabled>继续</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-rth" class="btn btn-danger" disabled>返航</button>
-                    <button id="btn-land" class="btn btn-danger" disabled>降落</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-clear" class="btn btn-secondary wide">清除所有航点</button>
-                </div>
-            </div>
-
-            <!-- 实时数据 -->
-            <div class="panel-section">
-                <div class="panel-header">实时数据</div>
-                <div class="data-grid">
-                    <div class="data-item">
-                        <span class="data-label">纬度</span>
-                        <span class="data-value" id="data-lat">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">经度</span>
-                        <span class="data-value" id="data-lng">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">航向</span>
-                        <span class="data-value" id="data-heading">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">当前航点</span>
-                        <span class="data-value" id="data-wp">--</span>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 光斑检测 -->
-            <div class="panel-section">
-                <div class="panel-header">
-                    <span>光斑检测</span>
-                    <span id="flash-status" class="tag tag-secondary">未启用</span>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-flash-enable" class="btn btn-secondary wide" disabled>启用光斑检测</button>
-                </div>
-                <div class="data-grid">
-                    <div class="data-item">
-                        <span class="data-label">光斑位置</span>
-                        <span class="data-value" id="flash-position">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">检测面积</span>
-                        <span class="data-value" id="flash-area">--</span>
-                    </div>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-avoidance-enable" class="btn btn-warning wide" disabled>启用避光斑</button>
-                    <button id="btn-avoidance-disable" class="btn btn-secondary" disabled>禁用避光斑</button>
-                </div>
-            </div>
-        </aside>
-    </div>
-
-    <!-- 底部日志栏 -->
-    <footer class="log-bar">
-        <div class="log-header">
-            <span>操作日志</span>
-            <button id="btn-clear-log" class="btn-link">清空</button>
-        </div>
-        <div id="log-content" class="log-content"></div>
-    </footer>
-
-    <!-- JS 依赖 -->
-    <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
-    <script src="/js/roslib.min.js"></script>
-    <script src="/js/map.js"></script>
-    <script src="/js/websocket.js"></script>
-    <script src="/js/flash_detector.js"></script>
-    <script src="/js/flash_avoidance.js"></script>
-    <script src="/js/ui.js"></script>
-</body>
-</html>
diff --git a/src/闪光检测/FrontEnd/js/map.js b/src/闪光检测/FrontEnd/js/map.js
deleted file mode 100644
index 4cb05c0..0000000
--- a/src/闪光检测/FrontEnd/js/map.js
+++ /dev/null
@@ -1,202 +0,0 @@
-/**
- * 地图模块 - 基于 Leaflet.js
- * 负责: 地图初始化、航点管理、航线绘制、无人机位置显示
- */
-
-const MapModule = (() => {
-    let map = null;
-    let waypoints = [];       // 航点数据数组
-    let markers = [];         // 航点 Leaflet Marker 对象
-    let polyline = null;      // 航线折线
-    let droneMarker = null;   // 无人机位置标记
-    let trailLine = null;     // 飞行轨迹
-    let trailCoords = [];     // 轨迹坐标历史
-
-    const DEFAULT_LAT = 30.0;
-    const DEFAULT_LNG = 120.0;
-    const DEFAULT_ZOOM = 16;
-
-    function init() {
-        map = L.map('map', {
-            center: [DEFAULT_LAT, DEFAULT_LNG],
-            zoom: DEFAULT_ZOOM,
-            zoomControl: true
-        });
-
-        // OpenStreetMap 底图（免费，无需 Key）
-        L.tileLayer('https://tile.openstreetmap.org/{z}/{x}/{y}.png', {
-            attribution: '&copy; OpenStreetMap',
-            maxZoom: 19
-        }).addTo(map);
-
-        // 点击地图添加航点
-        map.on('click', onMapClick);
-
-        // 初始化航线（空折线）
-        polyline = L.polyline([], {
-            color: '#007aff',
-            weight: 2,
-            opacity: 0.7,
-            dashArray: '8, 6'
-        }).addTo(map);
-
-        // 初始化飞行轨迹
-        trailLine = L.polyline([], {
-            color: '#ff4d4f',
-            weight: 2,
-            opacity: 0.6
-        }).addTo(map);
-
-        // 创建无人机图标
-        const droneIcon = L.divIcon({
-            className: 'drone-icon',
-            html: '<div class="drone-icon-inner" id="drone-arrow"></div>',
-            iconSize: [24, 24],
-            iconAnchor: [12, 12]
-        });
-
-        droneMarker = L.marker([DEFAULT_LAT, DEFAULT_LNG], {
-            icon: droneIcon,
-            visible: false
-        }).addTo(map);
-    }
-
-    function onMapClick(e) {
-        addWaypoint(e.latlng.lat, e.latlng.lng);
-    }
-
-    function addWaypoint(lat, lng) {
-        const defaultAlt = parseInt(document.getElementById('default-alt').value) || 15;
-        const defaultHold = parseInt(document.getElementById('default-hold').value) || 0;
-        const index = waypoints.length + 1;
-
-        const wp = {
-            id: Date.now(),
-            lat: parseFloat(lat.toFixed(6)),
-            lng: parseFloat(lng.toFixed(6)),
-            alt: defaultAlt,
-            hold_time: defaultHold
-        };
-        waypoints.push(wp);
-
-        // 添加地图标记
-        const marker = L.marker([wp.lat, wp.lng], {
-            draggable: true
-        }).addTo(map);
-
-        marker.bindPopup(`<b>航点 ${index}</b><br>高度: ${wp.alt}m<br>悬停: ${wp.hold_time}s`);
-
-        // 拖拽更新航点坐标
-        marker.on('dragend', function () {
-            const pos = marker.getLatLng();
-            const wpIdx = markers.indexOf(marker);
-            if (wpIdx >= 0) {
-                waypoints[wpIdx].lat = parseFloat(pos.lat.toFixed(6));
-                waypoints[wpIdx].lng = parseFloat(pos.lng.toFixed(6));
-                marker.setPopupContent(`<b>航点 ${wpIdx + 1}</b><br>高度: ${waypoints[wpIdx].alt}m`);
-                updatePolyline();
-                UIModule.updateWaypointList();
-            }
-        });
-
-        markers.push(marker);
-        updatePolyline();
-        UIModule.updateWaypointList();
-        UIModule.updateButtons();
-    }
-
-    function removeWaypoint(index) {
-        if (index < 0 || index >= waypoints.length) return;
-
-        waypoints.splice(index, 1);
-        const marker = markers.splice(index, 1)[0];
-        map.removeLayer(marker);
-
-        // 重新编号弹窗
-        markers.forEach((m, i) => {
-            m.setPopupContent(`<b>航点 ${i + 1}</b><br>高度: ${waypoints[i].alt}m`);
-        });
-
-        updatePolyline();
-        UIModule.updateWaypointList();
-        UIModule.updateButtons();
-    }
-
-    function clearWaypoints() {
-        markers.forEach(m => map.removeLayer(m));
-        waypoints = [];
-        markers = [];
-        updatePolyline();
-        UIModule.updateWaypointList();
-        UIModule.updateButtons();
-    }
-
-    function updatePolyline() {
-        const coords = waypoints.map(wp => [wp.lat, wp.lng]);
-        polyline.setLatLngs(coords);
-    }
-
-    function updateDronePosition(lat, lng, heading) {
-        if (!droneMarker) return;
-        droneMarker.setLatLng([lat, lng]);
-        if (!droneMarker.visible) {
-            droneMarker.visible = true;
-        }
-
-        // 旋转无人机图标（航向）
-        const arrow = document.getElementById('drone-arrow');
-        if (arrow) {
-            arrow.style.transform = `rotate(${heading}deg)`;
-        }
-
-        // 记录轨迹
-        trailCoords.push([lat, lng]);
-        if (trailCoords.length > 500) trailCoords.shift();
-        trailLine.setLatLngs(trailCoords);
-    }
-
-    function centerOnDrone(lat, lng) {
-        map.setView([lat, lng], map.getZoom());
-    }
-
-    function panTo(lat, lng) {
-        map.panTo([lat, lng]);
-    }
-
-    function getWaypoints() {
-        return waypoints.map(wp => ({
-            lat: wp.lat,
-            lng: wp.lng,
-            alt: wp.alt,
-            hold_time: wp.hold_time
-        }));
-    }
-
-    function getWaypointCount() {
-        return waypoints.length;
-    }
-
-    function updateWaypointAlt(index, alt) {
-        if (index >= 0 && index < waypoints.length) {
-            waypoints[index].alt = alt;
-            markers[index].setPopupContent(
-                `<b>航点 ${index + 1}</b><br>高度: ${alt}m<br>悬停: ${waypoints[index].hold_time}s`
-            );
-        }
-    }
-
-    return {
-        init,
-        addWaypoint,
-        removeWaypoint,
-        clearWaypoints,
-        updateDronePosition,
-        centerOnDrone,
-        panTo,
-        getWaypoints,
-        getWaypointCount,
-        updateWaypointAlt,
-        DEFAULT_LAT,
-        DEFAULT_LNG
-    };
-})();
diff --git a/src/闪光检测/FrontEnd/js/roslib.min.js b/src/闪光检测/FrontEnd/js/roslib.min.js
deleted file mode 100644
index 506562b..0000000
--- a/src/闪光检测/FrontEnd/js/roslib.min.js
+++ /dev/null
@@ -1 +0,0 @@
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o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.services)},function(e){i(e)}):n.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,i){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.nodes)},function(e){i(e)}):e.callService(n,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof i?n.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,i){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.names)},function(e){i(e)}):e.callService(n,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.typedefs)},function(e){i(e)}):n.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){function u(e,t){for(var i={},n=0;n<e.fieldnames.length;n++){var r=e.fieldarraylen[n],s=e.fieldnames[n],o=e.fieldtypes[n];if(-1===o.indexOf("/"))i[s]=-1===r?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=u(c,t),-1!==r&&(i[s]=[a])):h.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return i}var h=this;return u(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,i){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},t.exports=l},{"../util/workerSocket":49,"./Service":18,"./ServiceRequest":19,"./SocketAdapter.js":21,eventemitter2:2,"object-assign":3,ws:46}],18:[function(e,t,i){var r=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.callService=function(e,t,i){var n;this.isAdvertised||(n="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.once(n,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new r(e.values))}),n={op:"call_service",id:n,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(n))},n.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},n.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},n.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),t={op:"service_response",service:this.name,values:new r(t),result:i};e.id&&(t.id=e.id),this.ros.callOnConnection(t)},t.exports=n},{"./ServiceRequest":19,"./ServiceResponse":20,eventemitter2:2}],19:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],20:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],21:[function(e,t,i){"use strict";var n=e("../util/decompressPng"),a=e("cbor-js"),c=e("../util/cborTypedArrayTags"),l=null;"undefined"!=typeof bson&&(l=bson().BSON),t.exports=function(t){var r=null;function s(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function o(e,t){"png"===e.op?n(e.data,t):t(e)}return t.transportOptions.decoder&&(r=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){if(r)r(e.data,function(e){s(e)});else if("undefined"!=typeof Blob&&e.data instanceof Blob){var t=e.data,i=function(e){o(e,s)};if(!l)throw"Cannot process BSON encoded message without BSON header.";var n=new FileReader;n.onload=function(){var e=new Uint8Array(this.result),e=l.deserialize(e);i(e)},n.readAsArrayBuffer(t)}else e.data instanceof ArrayBuffer?s(a.decode(e.data,c)):o(JSON.parse("string"==typeof e?e:e.data),s)}}}},{"../util/cborTypedArrayTags":44,"../util/decompressPng":48,"cbor-js":1}],22:[function(e,t,i){var n=e("eventemitter2").EventEmitter2,r=e("./Message");function s(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"cbor-raw"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=n.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},s.prototype.advertise=function(){var e;this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,this.reconnect_on_close||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},s.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=s},{"./Message":15,eventemitter2:2}],23:[function(e,t,i){var n=e("../mixin"),t=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse")};n(t.Ros,["Param","Service","Topic"],t)},{"../mixin":29,"./Message":15,"./Param":16,"./Ros":17,"./Service":18,"./ServiceRequest":19,"./ServiceResponse":20,"./Topic":22}],24:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.position=new n((e=e||{}).position),this.orientation=new r(e.orientation)}s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":25,"./Vector3":27}],25:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}n.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},n.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},n.prototype.invert=function(){this.conjugate(),this.normalize()},n.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,n=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=n,this.w=e},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],26:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.translation=new n((e=e||{}).translation),this.rotation=new r(e.rotation)}s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":25,"./Vector3":27}],27:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}n.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},n.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},n.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,n=e.w*this.z+e.x*this.y-e.y*this.x,r=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+r*-e.x+i*-e.z-n*-e.y,this.y=i*e.w+r*-e.y+n*-e.x-t*-e.z,this.z=n*e.w+r*-e.z+t*-e.y-i*-e.x},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],28:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":24,"./Quaternion":25,"./Transform":26,"./Vector3":27}],29:[function(e,t,i){t.exports=function(i,e,n){e.forEach(function(e){var t=n[e];i.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],30:[function(e,t,i){var n=e("../actionlib/ActionClient"),r=e("../actionlib/Goal"),s=e("../core/Service.js"),o=e("../core/ServiceRequest.js"),a=e("../core/Topic.js"),c=e("../math/Transform");function l(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),t=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new n({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new s({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}l.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id,i=("/"===t[0]&&(t=t.substring(1)),this.frameInfos[t]);i&&(i.transform=new c({translation:e.transform.translation,rotation:e.transform.rotation}),i.cbs.forEach(function(e){e(i.transform)}))},this)},l.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new r({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new o(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},l.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new a({ros:this.ros,name:e.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},l.prototype.subscribe=function(e,t){"/"===e[0]&&(e=e.substring(1)),this.frameInfos[e]?this.frameInfos[e].transform&&t(this.frameInfos[e].transform):(this.frameInfos[e]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[e].cbs.push(t)},l.prototype.unsubscribe=function(e,t){"/"===e[0]&&(e=e.substring(1));for(var i=this.frameInfos[e],n=i&&i.cbs||[],r=n.length;r--;)n[r]===t&&n.splice(r,1);t&&0!==n.length||delete this.frameInfos[e]},l.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=l},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26}],31:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":17,"../mixin":29,"./TFClient":30}],32:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=r.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":27,"./UrdfTypes":41}],33:[function(e,t,i){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],34:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],35:[function(e,t,i){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t,i,n,r,s,o,a=e.xml.getElementsByTagName("parent");0<a.length&&(this.parent=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("child")).length&&(this.child=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("limit")).length&&(this.minval=parseFloat(a[0].getAttribute("lower")),this.maxval=parseFloat(a[0].getAttribute("upper"))),0===(a=e.xml.getElementsByTagName("origin")).length?this.origin=new c:(e=a[0].getAttribute("xyz"),t=new l,e&&(e=e.split(" "),t=new l({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})),e=a[0].getAttribute("rpy"),a=new u,e&&(e=e.split(" "),o=parseFloat(e[0])/2,i=parseFloat(e[1])/2,e=parseFloat(e[2])/2,n=Math.sin(o)*Math.cos(i)*Math.cos(e)-Math.cos(o)*Math.sin(i)*Math.sin(e),r=Math.cos(o)*Math.sin(i)*Math.cos(e)+Math.sin(o)*Math.cos(i)*Math.sin(e),s=Math.cos(o)*Math.cos(i)*Math.sin(e)-Math.sin(o)*Math.sin(i)*Math.cos(e),o=Math.cos(o)*Math.cos(i)*Math.cos(e)+Math.sin(o)*Math.sin(i)*Math.sin(e),(a=new u({x:n,y:r,z:s,w:o})).normalize()),this.origin=new c({position:t,orientation:a}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27}],36:[function(e,t,i){var n=e("./UrdfVisual");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.visuals=[];for(var t=e.xml.getElementsByTagName("visual"),i=0;i<t.length;i++)this.visuals.push(new n({xml:t[i]}))}},{"./UrdfVisual":42}],37:[function(e,t,i){var n=e("./UrdfColor");function r(e){this.textureFilename=null,this.color=null,this.name=e.xml.getAttribute("name");var t=e.xml.getElementsByTagName("texture"),t=(0<t.length&&(this.textureFilename=t[0].getAttribute("filename")),e.xml.getElementsByTagName("color"));0<t.length&&(this.color=new n({xml:t[0]}))}r.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var s=e("object-assign");r.prototype.assign=function(e){return s(this,e)},t.exports=r},{"./UrdfColor":33,"object-assign":3}],38:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.scale=null,this.type=r.URDF_MESH,this.filename=e.xml.getAttribute("filename"),(e=e.xml.getAttribute("scale"))&&(e=e.split(" "),this.scale=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])}))}},{"../math/Vector3":27,"./UrdfTypes":41}],39:[function(e,t,i){var l=e("./UrdfMaterial"),u=e("./UrdfLink"),h=e("./UrdfJoint"),f=e("@xmldom/xmldom").DOMParser;t.exports=function(e){var t=(e=e||{}).xml,e=e.string,e=(this.materials={},this.links={},this.joints={},(t=e?(new f).parseFromString(e,"text/xml"):t).documentElement);this.name=e.getAttribute("name");for(var i=e.childNodes,n=0;n<i.length;n++){var r=i[n];if("material"===r.tagName){var s=new l({xml:r});void 0!==this.materials[s.name]?this.materials[s.name].isLink()?this.materials[s.name].assign(s):console.warn("Material "+s.name+"is not unique."):this.materials[s.name]=s}else if("link"===r.tagName){var o=new u({xml:r});if(void 0!==this.links[o.name])console.warn("Link "+o.name+" is not unique.");else{for(var a=0;a<o.visuals.length;a++){var c=o.visuals[a].material;null!==c&&c.name&&(void 0!==this.materials[c.name]?o.visuals[a].material=this.materials[c.name]:this.materials[c.name]=c)}this.links[o.name]=o}}else"joint"===r.tagName&&(s=new h({xml:r}),this.joints[s.name]=s)}}},{"./UrdfJoint":35,"./UrdfLink":36,"./UrdfMaterial":37,"@xmldom/xmldom":45}],40:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_SPHERE,this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],41:[function(e,t,i){t.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],42:[function(e,t,i){var p=e("../math/Pose"),m=e("../math/Vector3"),v=e("../math/Quaternion"),d=e("./UrdfCylinder"),y=e("./UrdfBox"),g=e("./UrdfMaterial"),b=e("./UrdfMesh"),w=e("./UrdfSphere");t.exports=function(e){var t,i,n,r,s=e.xml;this.origin=null,this.geometry=null,this.material=null,this.name=e.xml.getAttribute("name");0===(e=s.getElementsByTagName("origin")).length?this.origin=new p:(h=e[0].getAttribute("xyz"),t=new m,h&&(h=h.split(" "),t=new m({x:parseFloat(h[0]),y:parseFloat(h[1]),z:parseFloat(h[2])})),h=e[0].getAttribute("rpy"),e=new v,h&&(h=h.split(" "),r=parseFloat(h[0])/2,o=parseFloat(h[1])/2,h=parseFloat(h[2])/2,f=Math.sin(r)*Math.cos(o)*Math.cos(h)-Math.cos(r)*Math.sin(o)*Math.sin(h),i=Math.cos(r)*Math.sin(o)*Math.cos(h)+Math.sin(r)*Math.cos(o)*Math.sin(h),n=Math.cos(r)*Math.cos(o)*Math.sin(h)-Math.sin(r)*Math.sin(o)*Math.cos(h),r=Math.cos(r)*Math.cos(o)*Math.cos(h)+Math.sin(r)*Math.sin(o)*Math.sin(h),(e=new v({x:f,y:i,z:n,w:r})).normalize()),this.origin=new p({position:t,orientation:e}));var o=s.getElementsByTagName("geometry");if(0<o.length){for(var a=o[0],c=null,l=0;l<a.childNodes.length;l++){var u=a.childNodes[l];if(1===u.nodeType){c=u;break}}var h=c.nodeName;"sphere"===h?this.geometry=new w({xml:c}):"box"===h?this.geometry=new y({xml:c}):"cylinder"===h?this.geometry=new d({xml:c}):"mesh"===h?this.geometry=new b({xml:c}):console.warn("Unknown geometry type "+h)}var f=s.getElementsByTagName("material");0<f.length&&(this.material=new g({xml:f[0]}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27,"./UrdfBox":32,"./UrdfCylinder":34,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfSphere":40}],43:[function(e,t,i){t.exports=e("object-assign")({UrdfBox:e("./UrdfBox"),UrdfColor:e("./UrdfColor"),UrdfCylinder:e("./UrdfCylinder"),UrdfLink:e("./UrdfLink"),UrdfMaterial:e("./UrdfMaterial"),UrdfMesh:e("./UrdfMesh"),UrdfModel:e("./UrdfModel"),UrdfSphere:e("./UrdfSphere"),UrdfVisual:e("./UrdfVisual")},e("./UrdfTypes"))},{"./UrdfBox":32,"./UrdfColor":33,"./UrdfCylinder":34,"./UrdfLink":36,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfModel":39,"./UrdfSphere":40,"./UrdfTypes":41,"./UrdfVisual":42,"object-assign":3}],44:[function(e,t,i){"use strict";var u=Math.pow(2,32),n=!1;function h(){n||(n=!0,console.warn("CBOR 64-bit integer array values may lose precision. No further warnings."))}var r={64:Uint8Array,69:Uint16Array,70:Uint32Array,72:Int8Array,77:Int16Array,78:Int32Array,85:Float32Array,86:Float64Array},s={71:function(e){h();for(var t=e.byteLength,i=e.byteOffset,n=t/8,e=e.buffer.slice(i,i+t),r=new Uint32Array(e),s=new Array(n),o=0;o<n;o++){var a=2*o,c=r[a],a=r[1+a];s[o]=c+u*a}return s},79:function(e){h();for(var t=e.byteLength,i=e.byteOffset,n=t/8,e=e.buffer.slice(i,i+t),r=new Uint32Array(e),s=new Int32Array(e),o=new Array(n),a=0;a<n;a++){var c=2*a,l=r[c],c=s[1+c];o[a]=l+u*c}return o}};void 0!==t&&t.exports&&(t.exports=function(e,t){var i,n;return t in r?(i=e.byteLength,n=e.byteOffset,new r[t](e.buffer.slice(n,n+i))):t in s?s[t](e):e})},{}],45:[function(e,t,i){i.DOMImplementation=window.DOMImplementation,i.XMLSerializer=window.XMLSerializer,i.DOMParser=window.DOMParser},{}],46:[function(e,t,i){t.exports="undefined"!=typeof window?window.WebSocket:WebSocket},{}],47:[function(e,t,i){t.exports=function(){return document.createElement("canvas")}},{}],48:[function(e,t,i){"use strict";var a=e("canvas"),n=a.Image||window.Image;t.exports=function(e,s){var o=new n;o.onload=function(){for(var e=new a,t=e.getContext("2d"),i=(e.width=o.width,e.height=o.height,t.imageSmoothingEnabled=!1,t.webkitImageSmoothingEnabled=!1,t.mozImageSmoothingEnabled=!1,t.drawImage(o,0,0),t.getImageData(0,0,o.width,o.height).data),n="",r=0;r<i.length;r+=4)n+=String.fromCharCode(i[r],i[r+1],i[r+2]);s(JSON.parse(n))},o.src="data:image/png;base64,"+e}},{canvas:47}],49:[function(t,e,i){try{var n=t("webworkify")}catch(e){n=t("webworkify-webpack")}var r=t("./workerSocketImpl");function s(e){this.socket_=n(r),this.socket_.addEventListener("message",this.handleWorkerMessage_.bind(this)),this.socket_.postMessage({uri:e})}s.prototype.handleWorkerMessage_=function(e){var t=e.data;if(t instanceof ArrayBuffer||"string"==typeof t)this.onmessage(e);else{e=t.type;if("close"===e)this.onclose(null);else if("open"===e)this.onopen(null);else{if("error"!==e)throw"Unknown message from workersocket";this.onerror(null)}}},s.prototype.send=function(e){this.socket_.postMessage(e)},s.prototype.close=function(){this.socket_.postMessage({close:!0})},e.exports=s},{"./workerSocketImpl":50,webworkify:7,"webworkify-webpack":6}],50:[function(e,t,i){var s=e("ws");t.exports=function(t){var i=null;function n(e){e=e.data;e instanceof ArrayBuffer?t.postMessage(e,[e]):t.postMessage(e)}function r(e){t.postMessage({type:e.type})}t.addEventListener("message",function(e){e=e.data;if("string"==typeof e)i.send(e);else if(e.hasOwnProperty("close"))i.close(),i=null;else{if(!e.hasOwnProperty("uri"))throw"Unknown message to WorkerSocket";e=e.uri;(i=new s(e)).binaryType="arraybuffer",i.onmessage=n,i.onclose=r,i.onopen=r,i.onerror=r}})}},{ws:46}]},{},[9]);
\ No newline at end of file
diff --git a/src/闪光检测/FrontEnd/js/ui.js b/src/闪光检测/FrontEnd/js/ui.js
deleted file mode 100644
index 0781af8..0000000
--- a/src/闪光检测/FrontEnd/js/ui.js
+++ /dev/null
@@ -1,466 +0,0 @@
-/**
- * UI 交互模块
- * 负责: 按钮事件绑定、状态管理、航点列表渲染、日志输出、光斑检测与避光斑集成
- */
-
-const UIModule = (() => {
-    // 应用状态
-    let droneConnected = false;
-    let missionUploaded = false;
-    let missionRunning = false;
-    let missionPaused = false;
-    let flashDetectionEnabled = false;
-    let flashAvoidanceEnabled = false;
-    let connectionMode = 'sim';  // 'sim' 仿真 | 'real' 实机
-
-    // 连接预设 (rosbridge WebSocket 地址)
-    const PRESETS = {
-        sim:  { url: 'ws://localhost:9090',             label: '仿真 rosbridge',  desc: 'Prometheus SITL 仿真 (本地 rosbridge 端口 9090)' },
-        real: { url: 'ws://192.168.1.31:9090',          label: '实机 rosbridge',  desc: 'P600 实机 WiFi 数传 (rosbridge 192.168.1.31:9090)' }
-    };
-
-    function init() {
-        // 初始化地图
-        MapModule.init();
-
-        // 初始化 WebSocket
-        WsModule.init();
-
-        // 绑定按钮事件
-        document.getElementById('btn-connect').addEventListener('click', onConnect);
-        document.getElementById('btn-upload').addEventListener('click', onUpload);
-        document.getElementById('btn-start').addEventListener('click', onStart);
-        document.getElementById('btn-pause').addEventListener('click', onPause);
-        document.getElementById('btn-resume').addEventListener('click', onResume);
-        document.getElementById('btn-rth').addEventListener('click', onReturnHome);
-        document.getElementById('btn-land').addEventListener('click', onLand);
-        document.getElementById('btn-clear').addEventListener('click', onClear);
-        document.getElementById('btn-clear-log').addEventListener('click', onClearLog);
-
-        // 绑定光斑检测按钮
-        document.getElementById('btn-flash-enable').addEventListener('click', onEnableFlashDetection);
-        document.getElementById('btn-avoidance-enable').addEventListener('click', onEnableFlashAvoidance);
-        document.getElementById('btn-avoidance-disable').addEventListener('click', onDisableFlashAvoidance);
-
-        // 绑定连接模式切换
-        document.getElementById('btn-mode-sim').addEventListener('click', () => switchMode('sim'));
-        document.getElementById('btn-mode-real').addEventListener('click', () => switchMode('real'));
-
-        // 连接地址输入框变化时更新标签
-        document.getElementById('drone-url').addEventListener('input', onUrlInput);
-
-        updateButtons();
-        addLog('info', '系统就绪，当前模式: 仿真 (rosbridge)');
-        addLog('info', '提示: 浏览器通过 roslibjs 直接连接 rosbridge_server，无需 MAVSDK 后端');
-    }
-
-    // ---------- 连接模式切换 ----------
-
-    function switchMode(mode) {
-        if (droneConnected) {
-            addLog('warning', '请先断开当前连接再切换模式');
-            return;
-        }
-        connectionMode = mode;
-        const preset = PRESETS[mode];
-
-        // 更新按钮状态
-        document.getElementById('btn-mode-sim').classList.toggle('active', mode === 'sim');
-        document.getElementById('btn-mode-real').classList.toggle('active', mode === 'real');
-
-        // 自动填入预设地址
-        document.getElementById('drone-url').value = preset.url;
-        document.getElementById('conn-mode-tag').textContent = preset.label;
-
-        addLog('info', `已切换到${preset.label}模式: ${preset.desc}`);
-
-        if (mode === 'sim') {
-            addLog('info', '仿真模式说明: 先启动 Prometheus SITL (roslaunch prometheus_gazebo sitl.launch)，再启动 rosbridge (roslaunch rosbridge_server rosbridge_websocket.launch)');
-        } else {
-            addLog('info', '实机模式说明: 请确保电脑已连接 P600 的 WiFi 数传，rosbridge 需在机载电脑上运行');
-        }
-    }
-
-    function onUrlInput() {
-        const url = document.getElementById('drone-url').value.trim();
-        const tag = document.getElementById('conn-mode-tag');
-        if (url.startsWith('ws://')) {
-            tag.textContent = 'rosbridge';
-        } else if (url.startsWith('wss://')) {
-            tag.textContent = 'rosbridge (SSL)';
-        } else {
-            tag.textContent = '未知';
-        }
-    }
-
-    // ---------- 按钮事件处理 ----------
-
-    function onConnect() {
-        const url = document.getElementById('drone-url').value.trim();
-        if (!url) {
-            addLog('error', '请输入 rosbridge 连接地址');
-            return;
-        }
-        if (!url.startsWith('ws://') && !url.startsWith('wss://')) {
-            addLog('error', '地址格式错误，应以 ws:// 开头 (例如 ws://localhost:9090)');
-            return;
-        }
-        WsModule.connectDrone(url);
-    }
-
-    function onUpload() {
-        const waypoints = MapModule.getWaypoints();
-        if (waypoints.length === 0) {
-            addLog('error', '请先在地图上添加航点');
-            return;
-        }
-        WsModule.uploadMission(waypoints);
-    }
-
-    function onStart() {
-        WsModule.startMission();
-    }
-
-    function onPause() {
-        WsModule.pauseMission();
-    }
-
-    function onResume() {
-        WsModule.resumeMission();
-    }
-
-    function onReturnHome() {
-        WsModule.returnHome();
-    }
-
-    function onLand() {
-        WsModule.land();
-    }
-
-    function onClear() {
-        MapModule.clearWaypoints();
-        missionUploaded = false;
-        updateButtons();
-        addLog('info', '已清除所有航点');
-    }
-
-    function onClearLog() {
-        document.getElementById('log-content').innerHTML = '';
-    }
-
-    // ---------- 光斑检测事件 ----------
-
-    function onEnableFlashDetection() {
-        if (!droneConnected) {
-            addLog('warning', '请先连接无人机');
-            return;
-        }
-
-        // 初始化光斑检测模块
-        if (typeof FlashDetectorModule !== 'undefined') {
-            FlashDetectorModule.init(WsModule.getRos(), {
-                onFlashDetected: (detected) => {
-                    const statusEl = document.getElementById('flash-status');
-                    if (detected) {
-                        statusEl.className = 'tag tag-danger';
-                        statusEl.textContent = '检测到光斑';
-                    }
-                },
-                onDetectionData: (data) => {
-                    // 更新光斑位置显示
-                    document.getElementById('flash-position').textContent = `(${data.cx.toFixed(0)}, ${data.cy.toFixed(0)})`;
-                    document.getElementById('flash-area').textContent = data.area.toFixed(0);
-
-                    // 如果启用了避光斑，处理检测数据
-                    if (flashAvoidanceEnabled && typeof FlashAvoidanceModule !== 'undefined') {
-                        const avoidanceCmd = FlashAvoidanceModule.processDetection(data);
-                        if (avoidanceCmd) {
-                            // 计算目标位置并执行避光斑
-                            executeFlashAvoidance(avoidanceCmd);
-                        }
-                    }
-                }
-            });
-
-            flashDetectionEnabled = true;
-            document.getElementById('btn-flash-enable').classList.add('hidden');
-            document.getElementById('flash-status').className = 'tag tag-success';
-            document.getElementById('flash-status').textContent = '已启用';
-            document.getElementById('btn-avoidance-enable').disabled = false;
-
-            addLog('success', '光斑检测已启用');
-        } else {
-            addLog('error', '光斑检测模块未加载');
-        }
-    }
-
-    function onEnableFlashAvoidance() {
-        if (!flashDetectionEnabled) {
-            addLog('warning', '请先启用光斑检测');
-            return;
-        }
-
-        if (typeof FlashAvoidanceModule !== 'undefined') {
-            FlashAvoidanceModule.init({
-                wsModule: WsModule,
-                onStatusUpdate: (data) => addLog(data.type, data.message)
-            });
-
-            FlashAvoidanceModule.setStatusCallback((data) => addLog(data.type, data.message));
-            FlashAvoidanceModule.setEnabled(true);
-
-            flashAvoidanceEnabled = true;
-            document.getElementById('btn-avoidance-enable').classList.add('hidden');
-            document.getElementById('btn-avoidance-disable').disabled = false;
-
-            addLog('success', '避光斑已启用');
-        }
-    }
-
-    function onDisableFlashAvoidance() {
-        if (typeof FlashAvoidanceModule !== 'undefined') {
-            FlashAvoidanceModule.setEnabled(false);
-            flashAvoidanceEnabled = false;
-            document.getElementById('btn-avoidance-enable').classList.remove('hidden');
-            document.getElementById('btn-avoidance-disable').disabled = true;
-            addLog('info', '避光斑已禁用');
-        }
-    }
-
-    function executeFlashAvoidance(avoidanceCmd) {
-        // 获取当前无人机位置
-        const currentPos = WsModule.getLocalPosition ? WsModule.getLocalPosition() : { x: 0, y: 0, z: 0 };
-
-        // 计算避光斑目标位置
-        const targetPos = {
-            x: currentPos.x + avoidanceCmd.avoidX,
-            y: currentPos.y + avoidanceCmd.avoidY,
-            z: currentPos.z + avoidanceCmd.avoidZ
-        };
-
-        // 发布新的位置设定值
-        WsModule.publishSetpoint(targetPos.x, targetPos.y, targetPos.z);
-
-        addLog('warning', `执行避光斑: 移动到 (${targetPos.x.toFixed(1)}, ${targetPos.y.toFixed(1)}, ${targetPos.z.toFixed(1)})`);
-
-        // 2秒后返回原位置或继续任务
-        setTimeout(() => {
-            FlashAvoidanceModule.endAvoidance();
-            addLog('info', '避光斑完成，返回正常控制');
-        }, 2000);
-    }
-
-    // ---------- 状态回调（由 WsModule 触发） ----------
-
-    function onTelemetry(data) {
-        if (data.type === 'telemetry') {
-            // 更新顶栏数据
-            document.getElementById('battery').textContent = data.battery.toFixed(0) + '%';
-            document.getElementById('speed').textContent = data.speed.toFixed(1) + ' m/s';
-            document.getElementById('altitude').textContent = data.alt.toFixed(1) + ' m';
-            document.getElementById('gps-status').textContent = data.gps_status;
-            document.getElementById('flight-mode').textContent = data.flight_mode;
-
-            // 更新右侧数据面板
-            document.getElementById('data-lat').textContent = data.lat.toFixed(6);
-            document.getElementById('data-lng').textContent = data.lng.toFixed(6);
-            document.getElementById('data-heading').textContent = data.heading.toFixed(0) + '°';
-            document.getElementById('data-wp').textContent = data.current_wp;
-
-            // 更新无人机位置 — 只要坐标有效就更新
-            if (droneConnected && (data.lat !== 0 || data.alt > 0.1)) {
-                MapModule.updateDronePosition(data.lat, data.lng, data.heading);
-            }
-        }
-
-        if (data.type === 'mission_progress') {
-            document.getElementById('data-wp').textContent =
-                data.current + ' / ' + data.total;
-        }
-    }
-
-    function onStatus(data) {
-        addLog(data.type, data.message);
-
-        // 根据状态消息更新应用状态
-        const msg = data.message;
-
-        if (msg.includes('连接成功') || msg.includes('已连接')) {
-            droneConnected = true;
-            document.getElementById('conn-status').className = 'tag tag-success';
-            document.getElementById('conn-status').textContent = '已连接';
-            document.getElementById('btn-connect').textContent = '已连接';
-            document.getElementById('btn-connect').disabled = true;
-            document.getElementById('btn-flash-enable').disabled = false;
-            updateButtons();
-        }
-
-        if (msg.includes('上传成功')) {
-            missionUploaded = true;
-            updateButtons();
-        }
-
-        if (msg.includes('任务已开始')) {
-            missionRunning = true;
-            missionPaused = false;
-            updateButtons();
-        }
-
-        if (msg.includes('已暂停')) {
-            missionRunning = false;
-            missionPaused = true;
-            updateButtons();
-        }
-
-        if (msg.includes('已继续')) {
-            missionRunning = true;
-            missionPaused = false;
-            updateButtons();
-        }
-
-        if (msg.includes('返航') || msg.includes('降落') || msg.includes('失败')) {
-            if (msg.includes('返航') || msg.includes('降落')) {
-                missionRunning = false;
-                missionPaused = false;
-                updateButtons();
-            }
-        }
-
-        if (msg.includes('任务完成')) {
-            missionRunning = false;
-            missionPaused = false;
-            missionUploaded = false;
-            updateButtons();
-        }
-    }
-
-    function onDroneDisconnected() {
-        droneConnected = false;
-        missionUploaded = false;
-        missionRunning = false;
-        missionPaused = false;
-        flashDetectionEnabled = false;
-        flashAvoidanceEnabled = false;
-
-        document.getElementById('conn-status').className = 'tag tag-danger';
-        document.getElementById('conn-status').textContent = '未连接';
-        document.getElementById('btn-connect').textContent = '连接无人机';
-        document.getElementById('btn-connect').disabled = false;
-        document.getElementById('btn-flash-enable').disabled = true;
-        document.getElementById('btn-flash-enable').classList.remove('hidden');
-        document.getElementById('btn-avoidance-enable').disabled = true;
-        document.getElementById('btn-avoidance-enable').classList.remove('hidden');
-        document.getElementById('btn-avoidance-disable').disabled = true;
-        document.getElementById('flash-status').className = 'tag tag-secondary';
-        document.getElementById('flash-status').textContent = '未启用';
-        document.getElementById('flash-position').textContent = '--';
-        document.getElementById('flash-area').textContent = '--';
-
-        // 关闭光斑检测模块
-        if (typeof FlashDetectorModule !== 'undefined') {
-            FlashDetectorModule.shutdown();
-        }
-        if (typeof FlashAvoidanceModule !== 'undefined') {
-            FlashAvoidanceModule.reset();
-        }
-
-        updateButtons();
-        addLog('error', '无人机连接断开');
-    }
-
-    // ---------- 按钮状态管理 ----------
-
-    function updateButtons() {
-        const wpCount = MapModule.getWaypointCount();
-
-        setBtn('btn-upload', droneConnected && wpCount > 0 && !missionRunning && !missionPaused);
-        setBtn('btn-start', droneConnected && missionUploaded && !missionRunning && !missionPaused);
-        setBtn('btn-pause', droneConnected && missionRunning);
-        setBtn('btn-resume', droneConnected && missionPaused);
-        setBtn('btn-rth', droneConnected);
-        setBtn('btn-land', droneConnected);
-    }
-
-    function setBtn(id, enabled) {
-        document.getElementById(id).disabled = !enabled;
-    }
-
-    // ---------- 航点列表渲染 ----------
-
-    function updateWaypointList() {
-        const container = document.getElementById('waypoint-list');
-        const waypoints = MapModule.getWaypoints();
-
-        document.getElementById('wp-count').textContent = waypoints.length + ' 个航点';
-
-        if (waypoints.length === 0) {
-            container.innerHTML = '<div class="empty-hint">在地图上点击以添加航点</div>';
-            return;
-        }
-
-        container.innerHTML = waypoints.map((wp, i) => `
-            <div class="wp-item" data-index="${i}">
-                <span class="wp-index">${i + 1}</span>
-                <div class="wp-info">
-                    <div class="wp-coord">${wp.lat}, ${wp.lng}</div>
-                    <div class="wp-alt">${wp.alt}m | 悬停 ${wp.hold_time}s</div>
-                </div>
-                <button class="wp-delete" data-index="${i}" title="删除">&times;</button>
-            </div>
-        `).join('');
-
-        // 绑定点击定位事件
-        container.querySelectorAll('.wp-item').forEach(item => {
-            item.addEventListener('click', (e) => {
-                if (e.target.classList.contains('wp-delete')) return;
-                const idx = parseInt(item.dataset.index);
-                const wps = MapModule.getWaypoints();
-                if (wps[idx]) {
-                    MapModule.panTo(wps[idx].lat, wps[idx].lng);
-                }
-            });
-        });
-
-        // 绑定删除事件
-        container.querySelectorAll('.wp-delete').forEach(btn => {
-            btn.addEventListener('click', () => {
-                MapModule.removeWaypoint(parseInt(btn.dataset.index));
-            });
-        });
-    }
-
-    // ---------- 日志输出 ----------
-
-    function addLog(type, message) {
-        const container = document.getElementById('log-content');
-        const now = new Date();
-        const time = now.toTimeString().split(' ')[0];
-
-        const entry = document.createElement('div');
-        entry.className = 'log-entry ' + type;
-        entry.innerHTML = `<span class="time">[${time}]</span>${message}`;
-        container.appendChild(entry);
-
-        // 自动滚动到底部
-        container.scrollTop = container.scrollHeight;
-
-        // 限制日志条数
-        while (container.children.length > 200) {
-            container.removeChild(container.firstChild);
-        }
-    }
-
-    return {
-        init,
-        onTelemetry,
-        onStatus,
-        onDroneDisconnected,
-        updateWaypointList,
-        updateButtons
-    };
-})();
-
-// 页面加载完成后初始化
-document.addEventListener('DOMContentLoaded', () => {
-    UIModule.init();
-});
diff --git a/src/闪光检测/FrontEnd/js/websocket.js b/src/闪光检测/FrontEnd/js/websocket.js
deleted file mode 100644
index e578892..0000000
--- a/src/闪光检测/FrontEnd/js/websocket.js
+++ /dev/null
@@ -1,696 +0,0 @@
-/**
- * MAVROS 通信模块 - 基于 roslibjs
- * 直接通过 MAVROS 话题和服务控制无人机
- *
- * 架构: 浏览器 ──roslibjs──► rosbridge_server ──ROS话题──► MAVROS ──MAVLink──► PX4
- *
- * 使用的话题:
- *   订阅: /uav1/mavros/state              (mavros_msgs/State)
- *   订阅: /uav1/mavros/local_position/pose (geometry_msgs/PoseStamped)
- *   订阅: /uav1/mavros/global_position/raw/fix (sensor_msgs/NavSatFix)
- *   订阅: /uav1/mavros/battery             (sensor_msgs/BatteryState)
- *   发布: /uav1/mavros/setpoint_position/local  (geometry_msgs/PoseStamped)
- *   服务: /uav1/mavros/cmd/arming          (mavros_msgs/CommandBool)
- *   服务: /uav1/mavros/set_mode            (mavros_msgs/SetMode)
- */
-
-const WsModule = (() => {
-    let ros = null;
-    let rosConnected = false;
-    let droneConnected = false;
-    let fcuReady = false;  // true when MAVROS reports valid mode (FCU connection established)
-
-    // ========== 配置: UAV 命名空间 ==========
-    // 仿真环境默认: '/uav1'   实机可能: '' 或 '/uav1'
-    // 如果话题不对，改这里
-    let uavNS = '/uav1';
-
-    function topicName(name) { return uavNS + name; }
-    function serviceName(name) { return uavNS + name; }
-
-    // ROS handles
-    let stateSub = null;
-    let localPosSub = null;
-    let gpsSub = null;
-    let batterySub = null;
-    let setpointPub = null;
-
-    // Telemetry state
-    let telemetry = {
-        lat: 0, lng: 0, alt: 0,
-        speed: 0, battery: 100, heading: 0,
-        flightMode: 'UNKNOWN', gpsStatus: 'No Fix',
-        armed: false,
-        localPos: { x: 0, y: 0, z: 0 }  // ENU: x=East, y=North, z=Up
-    };
-
-    // Origin for lat/lng <-> ENU conversion
-    let origin = { lat: null, lng: null };
-    let originSet = false;
-    let originFromGps = false;  // true if origin was set from real GPS
-
-    // Navigation state
-    let rawWaypoints = [];     // Original lat/lng waypoints
-    let navWaypoints = [];     // Converted ENU waypoints
-    let currentWPIndex = 0;
-    let navActive = false;
-    let navPaused = false;
-    let publishTimer = null;
-    let wpCheckTimer = null;
-    let telemetryTimer = null;  // Throttled UI update timer
-
-    const WP_REACH_DIST = 2.0;     // meters
-    const PUBLISH_INTERVAL = 100;   // ms (10 Hz, OFFBOARD needs >= 2Hz)
-
-    // ---- Coordinate conversion ----
-
-    function latLngToENU(lat, lng, alt) {
-        if (!originSet) return { x: 0, y: 0, z: alt };
-        const latRad = origin.lat * Math.PI / 180;
-        const x = (lng - origin.lng) * Math.cos(latRad) * 111319.488;  // East
-        const y = (lat - origin.lat) * 111319.488;                      // North
-        return { x, y, z: alt };                                         // Up
-    }
-
-    function enuToLatLng(x, y) {
-        if (!originSet) return { lat: 0, lng: 0 };
-        const latRad = origin.lat * Math.PI / 180;
-        const lat = origin.lat + y / 111319.488;
-        const lng = origin.lng + x / (111319.488 * Math.cos(latRad));
-        return { lat, lng };
-    }
-
-    // Quaternion to yaw (degrees, ENU: 0=East, CCW+)
-    function quatToYawDeg(qx, qy, qz, qw) {
-        const siny = 2 * (qw * qz + qx * qy);
-        const cosy = 1 - 2 * (qy * qy + qz * qz);
-        let yaw = Math.atan2(siny, cosy) * 180 / Math.PI;
-        // Convert to compass heading: 0=North, CW+
-        return (90 - yaw + 360) % 360;
-    }
-
-    // ---- Init & Connection ----
-
-    function init() {}
-
-    function isConnected() { return rosConnected; }
-
-    function connectDrone(url) {
-        try {
-            if (typeof ROSLIB === 'undefined') {
-                UIModule.onStatus({ type: 'error', message: 'roslibjs 库未加载' });
-                return;
-            }
-
-            if (ros) {
-                try { ros.close(); } catch (e) { /* ignore */ }
-            }
-
-            UIModule.onStatus({ type: 'info', message: `正在连接 rosbridge: ${url} ...` });
-
-            ros = new ROSLIB.Ros({ url: url });
-
-            ros.on('connection', () => {
-                rosConnected = true;
-                UIModule.onStatus({ type: 'info', message: 'rosbridge 已连接，正在检测 MAVROS 话题...' });
-                setupSubscriptions();
-            });
-
-            ros.on('error', (error) => {
-                UIModule.onStatus({ type: 'error', message: `rosbridge 连接错误: ${error || '未知'}` });
-            });
-
-            ros.on('close', () => {
-                const wasConnected = rosConnected;
-                rosConnected = false;
-                droneConnected = false;
-                stopAll();
-                if (wasConnected) {
-                    UIModule.onDroneDisconnected();
-                }
-            });
-        } catch (e) {
-            UIModule.onStatus({ type: 'error', message: `连接失败: ${e.message || e}` });
-        }
-    }
-
-    // ---- Topic subscriptions ----
-
-    function setupSubscriptions() {
-        // Try to detect which namespace has MAVROS
-        trySubscribesWithFallback();
-    }
-
-    // Set a default origin for coordinate conversion (no GPS needed)
-    function setDefaultOrigin() {
-        if (originSet) return;
-        // Use map default center as origin - simulation doesn't need real GPS
-        origin.lat = MapModule.DEFAULT_LAT || 30.0;
-        origin.lng = MapModule.DEFAULT_LNG || 120.0;
-        originSet = true;
-        originFromGps = false;
-        UIModule.onStatus({ type: 'info', message: `仿真模式: 使用默认坐标原点 (${origin.lat}, ${origin.lng})，无需GPS` });
-    }
-
-    function trySubscribesWithFallback() {
-        let gotState = false;
-        const tryNS = uavNS;
-
-        // Subscribe to MAVROS state
-        stateSub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/state'),
-            messageType: 'mavros_msgs/State'
-        });
-
-        const stateTimeout = setTimeout(() => {
-            if (!gotState) {
-                // Try without namespace
-                if (tryNS !== '') {
-                    uavNS = '';
-                    UIModule.onStatus({ type: 'warning', message: `未收到 ${tryNS}/mavros/state，尝试无命名空间...` });
-                    trySubscribesWithFallback();
-                } else {
-                    UIModule.onStatus({ type: 'error', message: '未检测到 MAVROS 话题，请确认仿真/实机已启动' });
-                }
-            }
-        }, 5000);
-
-        stateSub.subscribe((msg) => {
-            clearTimeout(stateTimeout);
-            gotState = true;
-
-            telemetry.armed = msg.armed || false;
-            telemetry.flightMode = msg.mode || 'UNKNOWN';
-
-            // Check if FCU is truly connected (has valid mode)
-            const modeValid = msg.connected && msg.mode && msg.mode.length > 0;
-
-            if (!droneConnected) {
-                droneConnected = true;
-                if (modeValid) {
-                    fcuReady = true;
-                    UIModule.onStatus({ type: 'success', message: `无人机已连接 (模式: ${msg.mode}, ${msg.armed ? '已解锁' : '未解锁'})` });
-                } else {
-                    UIModule.onStatus({ type: 'warning', message: `MAVROS 已连接，但飞控未就绪 (mode=空)。等待 PX4 初始化...` });
-                }
-                setDefaultOrigin();
-            }
-
-            // Detect when FCU becomes ready
-            if (!fcuReady && modeValid) {
-                fcuReady = true;
-                UIModule.onStatus({ type: 'success', message: `飞控已就绪! 当前模式: ${msg.mode}, 状态: ${msg.armed ? '已解锁' : '未解锁'}` });
-            }
-        });
-
-        // Local position (ENU: x=East, y=North, z=Up)
-        localPosSub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/local_position/pose'),
-            messageType: 'geometry_msgs/PoseStamped'
-        });
-
-        localPosSub.subscribe((msg) => {
-            if (msg.pose && msg.pose.position) {
-                telemetry.localPos = {
-                    x: msg.pose.position.x,  // East
-                    y: msg.pose.position.y,  // North
-                    z: msg.pose.position.z   // Up
-                };
-            }
-            if (msg.pose && msg.pose.orientation) {
-                const o = msg.pose.orientation;
-                telemetry.heading = quatToYawDeg(o.x, o.y, o.z, o.w);
-            }
-        });
-
-        // GPS (for lat/lng display and origin)
-        gpsSub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/global_position/raw/fix'),
-            messageType: 'sensor_msgs/NavSatFix'
-        });
-
-        gpsSub.subscribe((msg) => {
-            telemetry.lat = msg.latitude || 0;
-            telemetry.lng = msg.longitude || 0;
-
-            if (msg.status) {
-                telemetry.gpsStatus = msg.status.status >= 0 ? '3D Fix' : 'No Fix';
-            }
-
-            // Update origin from real GPS (overrides default origin)
-            if (msg.latitude !== 0 && Math.abs(msg.latitude) > 1) {
-                if (!originFromGps) {
-                    origin.lat = msg.latitude;
-                    origin.lng = msg.longitude;
-                    originSet = true;
-                    originFromGps = true;
-                    UIModule.onStatus({ type: 'info', message: `GPS 坐标已更新: ${origin.lat.toFixed(6)}, ${origin.lng.toFixed(6)}` });
-                    MapModule.centerOnDrone(msg.latitude, msg.longitude);
-                }
-            }
-        });
-
-        // Battery
-        batterySub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/battery'),
-            messageType: 'sensor_msgs/BatteryState'
-        });
-
-        batterySub.subscribe((msg) => {
-            telemetry.battery = (msg.percentage != null) ? msg.percentage * 100 : 100;
-        });
-
-        // Setpoint publisher — PoseStamped is the standard MAVROS position control interface
-        setpointPub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/setpoint_position/local'),
-            messageType: 'geometry_msgs/PoseStamped'
-        });
-
-        // Start throttled telemetry loop (5Hz, decoupled from subscription rate)
-        startTelemetryLoop();
-    }
-
-    function pushTelemetry() {
-        let displayLat = telemetry.lat;
-        let displayLng = telemetry.lng;
-        if ((!displayLat || displayLat === 0) && originSet) {
-            const ll = enuToLatLng(telemetry.localPos.x, telemetry.localPos.y);
-            displayLat = ll.lat;
-            displayLng = ll.lng;
-        }
-
-        UIModule.onTelemetry({
-            type: 'telemetry',
-            lat: displayLat,
-            lng: displayLng,
-            alt: telemetry.localPos.z,
-            speed: telemetry.speed,
-            battery: telemetry.battery,
-            heading: telemetry.heading,
-            flight_mode: telemetry.flightMode,
-            gps_status: telemetry.gpsStatus,
-            current_wp: (currentWPIndex + 1) + '/' + navWaypoints.length
-        });
-    }
-
-    function startTelemetryLoop() {
-        if (telemetryTimer) clearInterval(telemetryTimer);
-        pushTelemetry();
-        telemetryTimer = setInterval(pushTelemetry, 200); // 5Hz UI update
-    }
-
-    function stopTelemetryLoop() {
-        if (telemetryTimer) { clearInterval(telemetryTimer); telemetryTimer = null; }
-    }
-
-    // ---- Setpoint publishing ----
-
-    let spSeq = 0;
-
-    function publishSetpoint(east, north, up) {
-        if (!setpointPub || !rosConnected) return;
-
-        const msg = new ROSLIB.Message({
-            header: {
-                seq: spSeq++,
-                stamp: { secs: Math.floor(Date.now() / 1000), nsecs: 0 },
-                frame_id: 'map'
-            },
-            pose: {
-                position: { x: east, y: north, z: up },
-                orientation: { x: 0, y: 0, z: 0, w: 1 }
-            }
-        });
-
-        setpointPub.publish(msg);
-    }
-
-    function startPublishLoop(east, north, up) {
-        stopPublishing();
-        publishSetpoint(east, north, up);
-        publishTimer = setInterval(() => {
-            publishSetpoint(east, north, up);
-        }, PUBLISH_INTERVAL);
-    }
-
-    function stopPublishing() {
-        if (publishTimer) { clearInterval(publishTimer); publishTimer = null; }
-        if (wpCheckTimer) { clearInterval(wpCheckTimer); wpCheckTimer = null; }
-    }
-
-    function stopAll() {
-        stopPublishing();
-        stopTelemetryLoop();
-    }
-
-    // ---- ROS Service calls ----
-
-    // Simple one-shot versions for arm/disarm/land buttons
-
-    // ---- Mission operations ----
-
-    function uploadMission(waypoints) {
-        if (waypoints.length === 0) {
-            UIModule.onStatus({ type: 'error', message: '航点列表为空' });
-            return;
-        }
-
-        // Store raw waypoints
-        rawWaypoints = waypoints;
-        currentWPIndex = 0;
-
-        // Convert to ENU (origin should always be set by now)
-        if (originSet) {
-            convertWaypoints();
-            UIModule.onStatus({ type: 'success', message: `任务上传成功，共 ${navWaypoints.length} 个航点` });
-        } else {
-            // Fallback (shouldn't happen, but just in case)
-            UIModule.onStatus({ type: 'success', message: `已暂存 ${waypoints.length} 个航点` });
-        }
-    }
-
-    function convertWaypoints() {
-        if (!originSet || !rawWaypoints || rawWaypoints.length === 0) return false;
-        navWaypoints = rawWaypoints.map(wp => {
-            const enu = latLngToENU(wp.lat, wp.lng, wp.alt);
-            return { ...enu, hold_time: wp.hold_time || 0 };
-        });
-        return true;
-    }
-
-    function startMission() {
-        if (!rosConnected || !droneConnected) {
-            UIModule.onStatus({ type: 'error', message: '未连接无人机' });
-            return;
-        }
-        if (!fcuReady) {
-            UIModule.onStatus({ type: 'error', message: '飞控未就绪 (MAVROS 模式为空)。请等待 PX4 完全启动后重试。也可尝试在终端执行: rosservice call ' + serviceName('/mavros/set_mode') + ' "{base_mode: 0, custom_mode: \'OFFBOARD\'}"  验证模式切换是否正常' });
-            return;
-        }
-        if (rawWaypoints.length === 0) {
-            UIModule.onStatus({ type: 'error', message: '请先上传任务' });
-            return;
-        }
-
-        // Convert waypoints
-        if (navWaypoints.length === 0 && rawWaypoints.length > 0) {
-            if (!originSet) setDefaultOrigin();
-            convertWaypoints();
-        }
-        if (navWaypoints.length === 0) {
-            UIModule.onStatus({ type: 'error', message: '航点转换失败，请重新上传任务' });
-            return;
-        }
-
-        // Step 1: Start sending takeoff setpoints at target altitude
-        // PX4 requires setpoints BEFORE switching OFFBOARD, and altitude must be positive
-        const firstWP = navWaypoints[0];
-        const startX = telemetry.localPos.x || 0;
-        const startY = telemetry.localPos.y || 0;
-        const takeoffAlt = firstWP.z;
-        startPublishLoop(startX, startY, takeoffAlt);
-        UIModule.onStatus({ type: 'info', message: '正在发送位置设定值 (10Hz)...' });
-
-        // Step 2: Wait for setpoints to flow, then switch OFFBOARD
-        setTimeout(() => {
-            callSetModeWithRetry('OFFBOARD', 3, (ok) => {
-                if (!ok) {
-                    stopPublishing();
-                    UIModule.onStatus({ type: 'error', message: 'OFFBOARD 模式切换失败，任务中止。请在终端验证: rosservice call ' + serviceName('/mavros/set_mode') + ' "{base_mode: 0, custom_mode: \'OFFBOARD\'}"' });
-                    return;
-                }
-
-                // Step 3: Arm
-                setTimeout(() => {
-                    callArmingWithRetry(true, 3, (ok) => {
-                        if (!ok) {
-                            stopPublishing();
-                            UIModule.onStatus({ type: 'error', message: '电机解锁失败，任务中止。请检查: 1) 传感器是否校准 2) GPS是否定位 3) 安全检查是否通过' });
-                            return;
-                        }
-
-                        // Step 4: Wait for takeoff, then navigate
-                        setTimeout(() => {
-                            UIModule.onStatus({ type: 'info', message: '正在起飞...' });
-
-                            // Check if drone reached takeoff altitude
-                            let takeoffDone = false;
-                            const takeoffCheck = setInterval(() => {
-                                const curZ = telemetry.localPos.z || 0;
-                                if (curZ > takeoffAlt - 1.0 && curZ > 0.5) {
-                                    clearInterval(takeoffCheck);
-                                    takeoffDone = true;
-                                    navActive = true;
-                                    navPaused = false;
-                                    UIModule.onStatus({ type: 'success', message: '起飞完成，开始巡航' });
-                                    navigateToWaypoint(0);
-                                }
-                            }, 500);
-
-                            // Fallback: start navigation after 15s regardless
-                            setTimeout(() => {
-                                clearInterval(takeoffCheck);
-                                if (!takeoffDone) {
-                                    navActive = true;
-                                    navPaused = false;
-                                    UIModule.onStatus({ type: 'info', message: '任务已开始执行' });
-                                    navigateToWaypoint(0);
-                                }
-                            }, 15000);
-                        }, 1000);
-                    });
-                }, 500);
-            });
-        }, 3000);
-    }
-
-    // Retry wrappers for service calls
-    function callSetModeWithRetry(mode, retries, callback) {
-        UIModule.onStatus({ type: 'info', message: `正在切换 ${mode} 模式...` });
-        const service = new ROSLIB.Service({
-            ros: ros,
-            name: serviceName('/mavros/set_mode'),
-            serviceType: 'mavros_msgs/SetMode'
-        });
-        service.callService(
-            new ROSLIB.ServiceRequest({ base_mode: 0, custom_mode: mode }),
-            (result) => {
-                if (result && result.mode_sent) {
-                    UIModule.onStatus({ type: 'success', message: `模式已切换: ${mode}` });
-                    callback(true);
-                } else if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `模式切换未成功，剩余重试 ${retries} 次...` });
-                    setTimeout(() => callSetModeWithRetry(mode, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `模式切换失败: ${JSON.stringify(result)}` });
-                    callback(false);
-                }
-            },
-            (error) => {
-                if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `模式切换服务错误，重试中...` });
-                    setTimeout(() => callSetModeWithRetry(mode, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `模式切换服务失败: ${error || '不可用'}` });
-                    callback(false);
-                }
-            }
-        );
-    }
-
-    function callArmingWithRetry(arm, retries, callback) {
-        UIModule.onStatus({ type: 'info', message: arm ? '正在解锁电机...' : '正在上锁电机...' });
-        const service = new ROSLIB.Service({
-            ros: ros,
-            name: serviceName('/mavros/cmd/arming'),
-            serviceType: 'mavros_msgs/CommandBool'
-        });
-        service.callService(
-            new ROSLIB.ServiceRequest({ value: arm }),
-            (result) => {
-                if (result && result.success) {
-                    UIModule.onStatus({ type: 'success', message: arm ? '电机已解锁' : '电机已上锁' });
-                    callback(true);
-                } else if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `${arm ? '解锁' : '上锁'}未成功 (result=${result.result})，剩余重试 ${retries} 次...` });
-                    setTimeout(() => callArmingWithRetry(arm, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `${arm ? '解锁' : '上锁'}失败: result=${result ? result.result : 'N/A'}` });
-                    callback(false);
-                }
-            },
-            (error) => {
-                if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `${arm ? '解锁' : '上锁'}服务错误，重试中...` });
-                    setTimeout(() => callArmingWithRetry(arm, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `${arm ? '解锁' : '上锁'}服务失败` });
-                    callback(false);
-                }
-            }
-        );
-    }
-
-    // Simple one-shot mode switch (no retry, used by returnHome/land)
-    function callSetMode(mode) {
-        callSetModeWithRetry(mode, 1, () => {});
-    }
-
-    function navigateToWaypoint(index) {
-        if (!navActive || navPaused) return;
-
-        if (index >= navWaypoints.length) {
-            UIModule.onStatus({ type: 'success', message: '所有航点已到达，任务完成' });
-            const p = telemetry.localPos;
-            startPublishLoop(p.x, p.y, p.z);
-            navActive = false;
-            return;
-        }
-
-        currentWPIndex = index;
-        const wp = navWaypoints[index];
-
-        UIModule.onStatus({ type: 'info', message: `飞往航点 ${index + 1}/${navWaypoints.length} (${wp.x.toFixed(1)}, ${wp.y.toFixed(1)}, ${wp.z.toFixed(1)}m)` });
-        startPublishLoop(wp.x, wp.y, wp.z);
-        checkWaypointReached(index);
-    }
-
-    function checkWaypointReached(index) {
-        if (wpCheckTimer) clearInterval(wpCheckTimer);
-
-        const wpTimeout = setTimeout(() => {
-            // Fallback: if waypoint not reached in 30s, advance anyway
-            if (navActive && !navPaused) {
-                UIModule.onStatus({ type: 'warning', message: `航点 ${index + 1} 到达超时，跳至下一航点` });
-                navigateToWaypoint(index + 1);
-            }
-        }, 30000);
-
-        wpCheckTimer = setInterval(() => {
-            if (!navActive || navPaused) {
-                clearInterval(wpCheckTimer);
-                clearTimeout(wpTimeout);
-                return;
-            }
-
-            const wp = navWaypoints[index];
-            if (!wp) { clearTimeout(wpTimeout); return; }
-
-            const p = telemetry.localPos;
-            const dx = p.x - wp.x;
-            const dy = p.y - wp.y;
-            const dz = p.z - wp.z;
-            const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
-
-            if (dist < WP_REACH_DIST) {
-                clearInterval(wpCheckTimer);
-                clearTimeout(wpTimeout);
-                wpCheckTimer = null;
-
-                UIModule.onTelemetry({
-                    type: 'mission_progress',
-                    current: index + 1,
-                    total: navWaypoints.length
-                });
-
-                const holdTime = wp.hold_time || 0;
-                if (holdTime > 0) {
-                    UIModule.onStatus({ type: 'info', message: `航点 ${index + 1} 已到达，悬停 ${holdTime} 秒` });
-                    setTimeout(() => {
-                        if (navActive && !navPaused) navigateToWaypoint(index + 1);
-                    }, holdTime * 1000);
-                } else {
-                    navigateToWaypoint(index + 1);
-                }
-            }
-        }, 500);
-    }
-
-    function pauseMission() {
-        if (!navActive || navPaused) return;
-        navPaused = true;
-        if (wpCheckTimer) { clearInterval(wpCheckTimer); wpCheckTimer = null; }
-        const p = telemetry.localPos;
-        startPublishLoop(p.x, p.y, p.z);
-        UIModule.onStatus({ type: 'info', message: '任务已暂停（悬停中）' });
-    }
-
-    function resumeMission() {
-        if (!navActive || !navPaused) return;
-        navPaused = false;
-        navigateToWaypoint(currentWPIndex);
-        UIModule.onStatus({ type: 'info', message: '任务已继续' });
-    }
-
-    function returnHome() {
-        stopPublishing();
-        navActive = false;
-        navPaused = false;
-
-        UIModule.onStatus({ type: 'warning', message: '正在返航...' });
-
-        // Fly to origin at current altitude
-        startPublishLoop(0, 0, telemetry.localPos.z);
-
-        const homeCheck = setInterval(() => {
-            const p = telemetry.localPos;
-            const dist = Math.sqrt(p.x * p.x + p.y * p.y);
-            if (dist < WP_REACH_DIST) {
-                clearInterval(homeCheck);
-                // Switch to AUTO.LAND for safe landing
-                callSetMode('AUTO.LAND');
-                setTimeout(() => stopPublishing(), 3000);
-                UIModule.onStatus({ type: 'info', message: '已到达起飞点上方，正在降落...' });
-            }
-        }, 500);
-    }
-
-    function land() {
-        stopPublishing();
-        navActive = false;
-        navPaused = false;
-        // Use PX4 AUTO.LAND mode (safest)
-        callSetMode('AUTO.LAND');
-        UIModule.onStatus({ type: 'warning', message: '正在降落 (AUTO.LAND)...' });
-    }
-
-    function arm() {
-        callArmingWithRetry(true, 2, () => {});
-    }
-
-    function disarm() {
-        callArmingWithRetry(false, 2, () => {});
-    }
-
-    // ---- Public getters for external modules ----
-
-    function getRos() {
-        return ros;
-    }
-
-    function getLocalPosition() {
-        return { ...telemetry.localPos };
-    }
-
-    return {
-        init,
-        isConnected,
-        connectDrone,
-        uploadMission,
-        startMission,
-        pauseMission,
-        resumeMission,
-        returnHome,
-        land,
-        arm,
-        disarm,
-        getRos,
-        getLocalPosition,
-        publishSetpoint
-    };
-})();
diff --git a/src/闪光检测/FrontEnd/server/__pycache__/drone_manager.cpython-313.pyc b/src/闪光检测/FrontEnd/server/__pycache__/drone_manager.cpython-313.pyc
deleted file mode 100644
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diff --git a/src/闪光检测/FrontEnd/server/app.py b/src/闪光检测/FrontEnd/server/app.py
deleted file mode 100644
index 17d8d13..0000000
--- a/src/闪光检测/FrontEnd/server/app.py
+++ /dev/null
@@ -1,39 +0,0 @@
-"""
-Flask 静态文件服务器 - 托管前端页面
-浏览器通过 roslibjs 直接连接 rosbridge_server，无需 Python 后端处理无人机逻辑
-"""
-
-import os
-from flask import Flask, send_from_directory
-
-# 项目根目录（server 的上级目录）
-BASE_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-
-app = Flask(__name__, static_folder=BASE_DIR)
-
-
-@app.route("/")
-def index():
-    return send_from_directory(BASE_DIR, "index.html")
-
-
-@app.route("/css/<path:filename>")
-def css_files(filename):
-    return send_from_directory(os.path.join(BASE_DIR, "css"), filename)
-
-
-@app.route("/js/<path:filename>")
-def js_files(filename):
-    return send_from_directory(os.path.join(BASE_DIR, "js"), filename)
-
-
-if __name__ == "__main__":
-    print("=" * 50)
-    print("  P600 无人机定点巡航控制系统")
-    print("  打开浏览器访问: http://localhost:5000")
-    print()
-    print("  架构: 浏览器 ──roslibjs──► rosbridge_server ──ROS──► PX4")
-    print("  rosbridge 地址默认: ws://localhost:9090 (仿真)")
-    print("                       ws://192.168.1.31:9090 (实机)")
-    print("=" * 50)
-    app.run(host="0.0.0.0", port=5000, debug=False)
diff --git a/src/闪光检测/FrontEnd/server/drone_manager.py b/src/闪光检测/FrontEnd/server/drone_manager.py
deleted file mode 100644
index 46db332..0000000
--- a/src/闪光检测/FrontEnd/server/drone_manager.py
+++ /dev/null
@@ -1,7 +0,0 @@
-# 此文件已弃用 - 新架构通过 roslibjs + rosbridge_server 直接在浏览器端控制无人机
-# 无需 Python 后端处理无人机逻辑
-#
-# 新架构:
-#   浏览器 (roslibjs) ──WebSocket──► rosbridge_server ──ROS话题──► Prometheus/MAVROS ──► PX4
-#
-# 如需参考旧版 MAVSDK 实现，请查看 git 历史
diff --git a/src/闪光检测/FrontEnd/server/requirements.txt b/src/闪光检测/FrontEnd/server/requirements.txt
deleted file mode 100644
index 5bd19d3..0000000
--- a/src/闪光检测/FrontEnd/server/requirements.txt
+++ /dev/null
@@ -1 +0,0 @@
-flask==3.0.0
diff --git a/src/闪光检测/FrontEnd/使用说明.md b/src/闪光检测/FrontEnd/使用说明.md
deleted file mode 100644
index 07d0c1a..0000000
--- a/src/闪光检测/FrontEnd/使用说明.md
+++ /dev/null
@@ -1,253 +0,0 @@
-# P600 无人机定点巡航控制系统 - 使用说明
-
-## 目录
-1. [系统架构](#系统架构)
-2. [功能模块](#功能模块)
-3. [快速开始](#快速开始)
-4. [光斑检测与避光斑](#光斑检测与避光斑)
-5. [启动命令](#启动命令)
-6. [配置参数](#配置参数)
-7. [常见问题](#常见问题)
-
----
-
-## 系统架构
-
-```
-┌─────────────────────────────────────────────────────────────────────┐
-│                        前端浏览器                                  │
-│  ┌─────────┐  ┌─────────┐  ┌──────────┐  ┌────────────┐  ┌───────┐ │
-│  │ Leaflet │  │ roslib  │  │ MapModule│  │WsModule   │  │UI模块 │ │
-│  │  地图   │  │   JS    │  │ 航点管理  │  │ MAVROS通信│  │      │ │
-│  └─────────┘  └─────────┘  └──────────┘  └────────────┘  └───────┘ │
-│       │            │            │              │                   │
-│       └────────────┴────────────┴──────────────┘                   │
-│                          │ WebSocket                                │
-└──────────────────────────┼──────────────────────────────────────────┘
-                           │
-                           ▼
-┌─────────────────────────────────────────────────────────────────────┐
-│                    rosbridge_server                                │
-│                  (ROS-WebSocket 网桥)                              │
-└──────────────────────────┼──────────────────────────────────────────┘
-                           │
-           ┌───────────────┼───────────────┐
-           │               │               │
-           ▼               ▼               ▼
-┌─────────────────┐ ┌─────────────┐ ┌─────────────┐
-│    MAVROS       │ │flash_detector│ │             │
-│  (PX4通信)      │ │ (光斑检测)  │ │  其他节点   │
-└─────────────────┘ └─────────────┘ └─────────────┘
-        │                │
-        ▼                ▼
-┌─────────────────┐ ┌─────────────┐
-│     PX4         │ │   相机      │
-│   飞控          │ │ (D435i)    │
-└─────────────────┘ └─────────────┘
-```
-
----
-
-## 功能模块
-
-### 1. 航点巡航模块
-- 在地图上点击添加航点
-- 上传任务到无人机
-- 开始/暂停/继续任务执行
-- 返航/降落控制
-
-### 2. 光斑检测模块
-- 通过相机图像检测高亮光斑
-- 使用 HSV 颜色空间阈值分割算法
-- 支持动态调参 (rqt_reconfigure)
-- 发布检测结果到前端
-
-### 3. 避光斑模块
-- 基于光斑位置计算躲避方向
-- 水平+垂直结合避让
-- 防抖机制防止误触发
-- 自动发布躲避位置指令
-
----
-
-## 快速开始
-
-### 1. 编译 ROS 包
-```bash
-cd /home/mc/ZhiTu/flash_detector_ws
-source /opt/ros/noetic/setup.bash
-source devel/setup.bash
-```
-
-### 2. 启动 rosbridge_server
-```bash
-roslaunch rosbridge_server rosbridge_websocket.launch
-```
-
-### 3. 启动光斑检测节点
-```bash
-# 使用默认相机话题
-roslaunch flash_detector flash_detector.launch
-
-# 指定相机话题 (适配不同无人机)
-roslaunch flash_detector flash_detector.launch camera_topic:=/uav1/camera/color/image_raw
-```
-
-### 4. 启动前端
-```bash
-cd /home/mc/ZhiTu/FrontEnd
-python3 server/app.py
-# 打开浏览器访问 http://localhost:5000
-```
-
----
-
-## 光斑检测与避光斑
-
-### 工作流程
-```
-相机图像 → flash_detector_node.py → 检测结果
-                                          ↓
-前端浏览器 ← /flash_detector/detection ←─┘
-     ↓
-FlashDetectorModule → FlashAvoidanceModule → 避光斑指令
-                                                  ↓
-                                           无人机执行躲避
-```
-
-### 检测话题
-| 话题名 | 类型 | 说明 |
-|--------|------|------|
-| `/flash_detector/flash_detected` | std_msgs/Bool | 是否检测到光斑 |
-| `/flash_detector/detection` | std_msgs/Float32MultiArray | [cx, cy, area, sight_x, sight_y] |
-
-### 避光斑策略
-- **水平躲避**: 光斑在右侧 → 无人机向左移动
-- **垂直躲避**: 光斑在下方 → 无人机向上移动
-- **触发条件**: 连续 3 帧检测到光斑且面积 > 100
-- **冷却时间**: 5 秒内不重复触发
-
----
-
-## 启动命令
-
-### 完整启动顺序 (推荐)
-
-```bash
-# 终端1: 启动 ROS Master
-roscore
-
-# 终端2: 启动 rosbridge_server
-roslaunch rosbridge_server rosbridge_websocket.launch
-
-# 终端3: 编译并启动光斑检测节点
-cd /home/mc/ZhiTu/flash_detector_ws
-source /opt/ros/noetic/setup.bash
-source devel/setup.bash
-roslaunch flash_detector flash_detector.launch camera_topic:=/uav1/camera/color/image_raw
-
-# 终端4: 启动前端
-cd /home/mc/ZhiTu/FrontEnd
-python3 server/app.py
-```
-
-### 参数说明
-
-| 参数 | 默认值 | 说明 |
-|------|--------|------|
-| `camera_topic` | `/camera/color/image_raw` | 相机图像话题 |
-| `camera_info_topic` | `/camera/color/camera_info` | 相机内参话题 |
-| `debug_mode` | `false` | 是否显示调试窗口 |
-| `hsv_v_min` | `200` | HSV 亮度最小值 |
-
----
-
-## 配置参数
-
-### HSV 阈值参数
-```yaml
-# 适合检测明亮的枪口闪光
-hsv_h_min: 0
-hsv_h_max: 30
-hsv_s_min: 100
-hsv_s_max: 255
-hsv_v_min: 200  # 高亮度阈值
-hsv_v_max: 255
-```
-
-### 避光斑参数 (flash_avoidance.js)
-```javascript
-const config = {
-    avoidanceDistance: 3.0,      // 躲避移动距离 (米)
-    minDetectionArea: 100,       // 最小检测面积
-    horizontalThreshold: 0.2,   // 水平方向阈值
-    verticalThreshold: 0.2,     // 垂直方向阈值
-    debounceCount: 3,           // 防抖帧数
-    debounceCooldown: 5000      // 冷却时间 (毫秒)
-};
-```
-
----
-
-## 常见问题
-
-### Q: 连接失败怎么办？
-1. 检查 rosbridge_server 是否启动
-2. 检查 WebSocket 地址是否正确
-3. 确认防火墙未阻止 9090 端口
-
-### Q: 光斑检测不准确？
-1. 使用 `rqt_reconfigure` 调整 HSV 参数
-2. 增加 `min_area` 过滤噪点
-3. 调整 `kernel_size` 改善形态学效果
-
-### Q: 避光斑不生效？
-1. 确认已启用避光斑模块
-2. 检查检测面积是否超过阈值
-3. 确认无人机处于 OFFBOARD 模式
-
-### Q: 如何调整避光斑灵敏度？
-修改 `flash_avoidance.js` 中的参数：
-- 降低 `minDetectionArea` 增加灵敏度
-- 降低 `horizontalThreshold` / `verticalThreshold` 增加灵敏度
-- 减少 `debounceCount` 减少防抖延迟
-
----
-
-## 文件结构
-
-```
-/home/mc/ZhiTu/                          # 项目根目录
-├── flash_detector/                      # ROS 包源码
-│   ├── package.xml
-│   ├── CMakeLists.txt
-│   ├── cfg/FlashDetector.cfg
-│   ├── config/param.yaml
-│   ├── launch/flash_detector.launch
-│   └── scripts/flash_detector_node.py
-│
-├── flash_detector_ws/                   # 编译的工作空间
-│   ├── src/flash_detector/             # 已编译的包
-│   ├── build/
-│   ├── devel/
-│   └── logs/
-│
-└── FrontEnd/                           # 前端项目
-    ├── index.html
-    ├── 使用说明.md
-    ├── css/style.css
-    ├── js/
-    │   ├── flash_detector.js           # 光斑检测订阅
-    │   ├── flash_avoidance.js          # 避光斑决策
-    │   ├── websocket.js                 # MAVROS 通信
-    │   ├── map.js                      # 地图模块
-    │   └── ui.js                       # UI 交互
-    └── server/
-        └── app.py                      # Flask 服务器
-```
-
----
-
-## 联系方式
-- 开发者: mc
-- Email: mc@example.com
diff --git a/src/闪光检测/FrontEnd/前端设计.html b/src/闪光检测/FrontEnd/前端设计.html
deleted file mode 100644
index 1e1faa5..0000000
--- a/src/闪光检测/FrontEnd/前端设计.html
+++ /dev/null
@@ -1,1026 +0,0 @@
-<!DOCTYPE html>
-<html lang="zh-CN">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>最后一公里补给系统 - UI原型（带跳转）</title>
-    <style>
-        * {
-            margin: 0;
-            padding: 0;
-            box-sizing: border-box;
-        }
-
-        body {
-            font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'PingFang SC', 'Microsoft YaHei', sans-serif;
-            background: #f5f5f5;
-            padding: 20px;
-        }
-
-        .container {
-            max-width: 1200px;
-            margin: 0 auto;
-        }
-
-        h1 {
-            text-align: center;
-            color: #333;
-            margin-bottom: 20px;
-        }
-
-        .device-tabs {
-            display: flex;
-            justify-content: center;
-            gap: 20px;
-            margin-bottom: 20px;
-        }
-
-        .device-tab {
-            padding: 15px 30px;
-            background: #e0e0e0;
-            border: none;
-            border-radius: 8px;
-            cursor: pointer;
-            font-size: 16px;
-            font-weight: 600;
-            transition: all 0.3s;
-        }
-
-        .device-tab.active {
-            background: #007AFF;
-            color: white;
-        }
-
-        .device-tab:hover {
-            transform: translateY(-2px);
-        }
-
-        .interface-nav {
-            display: flex;
-            justify-content: center;
-            gap: 10px;
-            margin-bottom: 20px;
-            flex-wrap: wrap;
-        }
-
-        .nav-btn {
-            padding: 8px 16px;
-            background: #007AFF;
-            color: white;
-            border: none;
-            border-radius: 8px;
-            cursor: pointer;
-            font-size: 14px;
-            transition: all 0.3s;
-        }
-
-        .nav-btn:hover, .nav-btn.active {
-            background: #0056b3;
-            transform: translateY(-2px);
-        }
-
-        .interface-container {
-            background: white;
-            border-radius: 16px;
-            padding: 30px;
-            box-shadow: 0 2px 8px rgba(0,0,0,0.1);
-        }
-
-        .interface-title {
-            font-size: 20px;
-            color: #333;
-            margin-bottom: 15px;
-            padding-bottom: 10px;
-            border-bottom: 2px solid #007AFF;
-        }
-
-        .phone-frame {
-            width: 375px;
-            height: 750px;
-            border: 12px solid #1a1a1a;
-            border-radius: 40px;
-            margin: 0 auto;
-            background: #fff;
-            overflow: hidden;
-            position: relative;
-        }
-
-        .phone-notch {
-            position: absolute;
-            top: 0;
-            left: 50%;
-            transform: translateX(-50%);
-            width: 150px;
-            height: 30px;
-            background: #1a1a1a;
-            border-radius: 0 0 20px 20px;
-            z-index: 100;
-        }
-
-        .phone-screen {
-            height: 100%;
-            padding: 40px 15px 20px;
-            overflow-y: auto;
-            background: #f8f8f8;
-        }
-
-        .status-bar {
-            display: flex;
-            justify-content: space-between;
-            font-size: 12px;
-            color: #666;
-            margin-bottom: 15px;
-        }
-
-        .user-card {
-            background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
-            border-radius: 16px;
-            padding: 20px;
-            color: white;
-            margin-bottom: 20px;
-        }
-
-        .user-name {
-            font-size: 18px;
-            font-weight: bold;
-            margin-bottom: 5px;
-        }
-
-        .user-unit {
-            font-size: 14px;
-            opacity: 0.9;
-        }
-
-        .section-title {
-            font-size: 16px;
-            font-weight: 600;
-            color: #333;
-            margin: 20px 0 10px;
-        }
-
-        .button-large {
-            width: 100%;
-            padding: 15px;
-            background: linear-gradient(135deg, #007AFF 0%, #0056b3 100%);
-            color: white;
-            border: none;
-            border-radius: 12px;
-            font-size: 16px;
-            font-weight: 600;
-            cursor: pointer;
-            margin-bottom: 20px;
-        }
-
-        .button-large:hover {
-            opacity: 0.9;
-        }
-
-        .inventory-item {
-            background: white;
-            border-radius: 12px;
-            padding: 15px;
-            margin-bottom: 10px;
-        }
-
-        .inventory-header {
-            display: flex;
-            justify-content: space-between;
-            margin-bottom: 8px;
-            font-weight: 600;
-        }
-
-        .progress-bar {
-            height: 8px;
-            background: #e0e0e0;
-            border-radius: 4px;
-            overflow: hidden;
-        }
-
-        .progress-fill {
-            height: 100%;
-            background: #4CAF50;
-            border-radius: 4px;
-        }
-
-        .location-info {
-            background: white;
-            border-radius: 12px;
-            padding: 15px;
-            display: flex;
-            justify-content: space-between;
-            align-items: center;
-            margin-bottom: 10px;
-        }
-
-        .location-text {
-            font-size: 14px;
-            color: #333;
-        }
-
-        .location-btn {
-            padding: 8px 16px;
-            background: #007AFF;
-            color: white;
-            border: none;
-            border-radius: 8px;
-            font-size: 12px;
-            cursor: pointer;
-        }
-
-        .card {
-            background: white;
-            border-radius: 12px;
-            padding: 15px;
-            margin-bottom: 10px;
-        }
-
-        .card-title {
-            font-size: 14px;
-            color: #666;
-            margin-bottom: 10px;
-        }
-
-        .card-row {
-            display: flex;
-            justify-content: space-between;
-            padding: 8px 0;
-            border-bottom: 1px solid #f0f0f0;
-            font-size: 14px;
-        }
-
-        .card-row:last-child {
-            border-bottom: none;
-        }
-
-        .tag {
-            display: inline-block;
-            padding: 4px 12px;
-            border-radius: 12px;
-            font-size: 12px;
-            font-weight: 600;
-        }
-
-        .tag-danger { background: #FFF3F3; color: #FF4D4F; }
-        .tag-success { background: #F6FFED; color: #52C41A; }
-        .tag-warning { background: #FFFBE6; color: #FAAD14; }
-
-        .form-group {
-            margin-bottom: 15px;
-        }
-
-        .form-label {
-            font-size: 14px;
-            color: #333;
-            margin-bottom: 5px;
-            display: block;
-        }
-
-        .form-input {
-            width: 100%;
-            padding: 12px;
-            border: 1px solid #e0e0e0;
-            border-radius: 8px;
-            font-size: 14px;
-        }
-
-        .select-box {
-            width: 100%;
-            padding: 12px;
-            border: 1px solid #e0e0e0;
-            border-radius: 8px;
-            background: white;
-            font-size: 14px;
-        }
-
-        .radio-group {
-            display: flex;
-            gap: 10px;
-        }
-
-        .radio-label {
-            flex: 1;
-            padding: 10px;
-            background: #f5f5f5;
-            border-radius: 8px;
-            text-align: center;
-            cursor: pointer;
-            border: 2px solid transparent;
-        }
-
-        .radio-label.active {
-            background: #E6F7FF;
-            border-color: #007AFF;
-            color: #007AFF;
-        }
-
-        .control-btn {
-            padding: 8px 16px;
-            border: none;
-            border-radius: 8px;
-            font-size: 12px;
-            cursor: pointer;
-        }
-
-        .control-btn.primary { background: #007AFF; color: white; }
-        .control-btn.secondary { background: #E0E0E0; color: #333; }
-
-        .annotate-item {
-            display: flex;
-            align-items: center;
-            padding: 8px 0;
-            border-bottom: 1px solid #f0f0f0;
-        }
-
-        .annotate-dot {
-            width: 10px;
-            height: 10px;
-            border-radius: 50%;
-            margin-right: 10px;
-        }
-
-        .annotate-dot.red { background: #FF4D4F; }
-        .annotate-dot.green { background: #52C41A; }
-
-        .annotate-section {
-            background: white;
-            border-radius: 12px;
-            padding: 15px;
-            margin-bottom: 10px;
-        }
-
-        .select-btn {
-            width: 100%;
-            padding: 10px;
-            background: #52C41A;
-            color: white;
-            border: none;
-            border-radius: 8px;
-            cursor: pointer;
-            margin-top: 5px;
-        }
-
-        .avoid-btn {
-            width: 100%;
-            padding: 10px;
-            background: #FF4D4F;
-            color: white;
-            border: none;
-            border-radius: 8px;
-            cursor: pointer;
-            margin-top: 5px;
-        }
-
-        .stat-item {
-            display: flex;
-            justify-content: space-between;
-            padding: 8px 0;
-            border-bottom: 1px solid #f0f0f0;
-        }
-
-        .stat-label { color: #666; }
-        .stat-value { font-weight: 600; color: #333; }
-
-        .hidden { display: none; }
-
-        .nav-link {
-            color: #007AFF;
-            cursor: pointer;
-            text-decoration: underline;
-        }
-
-        .nav-link:hover {
-            color: #0056b3;
-        }
-
-        .menu-item {
-            display: flex;
-            justify-content: space-between;
-            align-items: center;
-            padding: 12px 0;
-            border-bottom: 1px solid #f0f0f0;
-            cursor: pointer;
-        }
-
-        .menu-item:hover {
-            background: #f5f5f5;
-        }
-
-        .menu-item:last-child {
-            border-bottom: none;
-        }
-
-        .task-status {
-            display: inline-flex;
-            align-items: center;
-            padding: 4px 12px;
-            border-radius: 12px;
-            font-size: 12px;
-            font-weight: 600;
-        }
-
-        .task-status.running { background: #F6FFED; color: #52C41A; }
-
-        .risk-score {
-            display: inline-block;
-            padding: 2px 10px;
-            background: #E6F7FF;
-            color: #007AFF;
-            border-radius: 4px;
-            font-size: 12px;
-        }
-    </style>
-</head>
-<body>
-    <div class="container">
-        <h1>📱 最后一公里补给系统 - UI原型</h1>
-
-        <!-- 设备切换标签 -->
-        <div class="device-tabs">
-            <button class="device-tab active" onclick="switchDevice('soldier')">📱 单兵终端APP</button>
-            <button class="device-tab" onclick="switchDevice('logistics')">🖥️ 后勤保障系统</button>
-        </div>
-
-        <!-- 单兵终端APP界面导航 -->
-        <div id="soldier-nav" class="interface-nav">
-            <button class="nav-btn active" onclick="showInterface(1)">首页</button>
-            <button class="nav-btn" onclick="showInterface(2)">需求上报</button>
-            <button class="nav-btn" onclick="showInterface(3)">任务监控</button>
-            <button class="nav-btn" onclick="showInterface(4)">投放点选择</button>
-            <button class="nav-btn" onclick="showInterface(5)">无人机状态</button>
-            <button class="nav-btn" onclick="showInterface(6)">位置更新</button>
-            <button class="nav-btn" onclick="showInterface(7)">个人中心</button>
-            <button class="nav-btn" onclick="showInterface(8)">系统设置</button>
-        </div>
-
-        <!-- 后勤保障系统界面导航 -->
-        <div id="logistics-nav" class="interface-nav hidden">
-            <button class="nav-btn active" onclick="showInterface(9)">任务调度</button>
-            <button class="nav-btn" onclick="showInterface(10)">需求详情</button>
-            <button class="nav-btn" onclick="showInterface(11)">无人机监控</button>
-        </div>
-
-        <div class="interface-container">
-            <!-- ==================== 单兵终端APP界面 ==================== -->
-
-            <!-- 界面1: 首页 -->
-            <div id="interface-1">
-                <h2 class="interface-title">📱 单兵终端APP - 首页</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar">
-                            <span>📡 信号: 98%</span>
-                            <span>🔋 电池: 85%</span>
-                        </div>
-
-                        <div class="user-card">
-                            <div class="user-name">👤 前线士兵：张三</div>
-                            <div class="user-unit">所属：第3步兵师/1连</div>
-                        </div>
-
-                        <div class="section-title">💊 紧急物资需求上报</div>
-                        <button class="button-large" onclick="showInterface(2)">✍️ 按键上报需求</button>
-
-                        <div class="section-title">📦 当前库存状态</div>
-
-                        <div class="inventory-item">
-                            <div class="inventory-header"><span>弹药</span><span>150发 / 176发</span></div>
-                            <div class="progress-bar"><div class="progress-fill" style="width: 85%;"></div></div>
-                        </div>
-
-                        <div class="inventory-item">
-                            <div class="inventory-header"><span>食物</span><span>5份 / 8份</span></div>
-                            <div class="progress-bar"><div class="progress-fill" style="width: 60%; background: #FF9800;"></div></div>
-                        </div>
-
-                        <div class="inventory-item">
-                            <div class="inventory-header"><span>医药</span><span>3箱 / 4箱</span></div>
-                            <div class="progress-bar"><div class="progress-fill" style="width: 80%;"></div></div>
-                        </div>
-
-                        <div class="inventory-item">
-                            <div class="inventory-header"><span>饮水</span><span>4箱 / 4箱</span></div>
-                            <div class="progress-bar"><div class="progress-fill" style="width: 90%; background: #4CAF50;"></div></div>
-                        </div>
-
-                        <div class="location-info">
-                            <span class="location-text">📍 当前位置：A区街角12号</span>
-                            <span class="location-btn nav-link" onclick="showInterface(6)">更新</span>
-                        </div>
-
-                        <div class="location-info">
-                            <span class="location-text">📋 当前任务：#001 运输中</span>
-                            <span class="location-btn nav-link" onclick="showInterface(3)">查看</span>
-                        </div>
-
-                        <div class="card" style="text-align: center; margin-top: 10px;">
-                            <span class="nav-link" onclick="showInterface(7)">👤 个人中心</span>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面2: 需求上报 -->
-            <div id="interface-2" class="hidden">
-                <h2 class="interface-title">📝 单兵终端APP - 物资需求上报</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
-                            <span style="font-weight: 600;">📝 填写物资信息</span>
-                            <span></span>
-                        </div>
-
-                        <div class="form-group">
-                            <label class="form-label">📦 物资类型</label>
-                            <select class="select-box">
-                                <option>☑️ 弹药 (选择)</option>
-                                <option>☐ 食物</option>
-                                <option>☐ 医药</option>
-                                <option>☐ 饮水</option>
-                            </select>
-                        </div>
-
-                        <div class="form-group">
-                            <label class="form-label">📏 数量</label>
-                            <input type="text" class="form-input" value="20" style="width: 80px; display: inline-block;"> 发
-                        </div>
-
-                        <div class="form-group">
-                            <label class="form-label">⚡ 紧急程度</label>
-                            <div class="radio-group">
-                                <div class="radio-label">○ 一般</div>
-                                <div class="radio-label">○ 重要</div>
-                                <div class="radio-label active">◉ 紧急</div>
-                            </div>
-                        </div>
-
-                        <div class="form-group">
-                            <label class="form-label">📍 期望投放点</label>
-                            <div style="background: white; padding: 10px; border-radius: 8px; margin-bottom: 8px;">当前位置：A区街角12号</div>
-                            <button class="control-btn primary" style="width: 100%;" onclick="showInterface(4)">🎯 选择投放点</button>
-                        </div>
-
-                        <div class="annotate-section">
-                            <label class="form-label">🗺️ 战场标注（可选）</label>
-                            <button class="control-btn primary" style="width: 100%; margin-bottom: 10px;">+ 标注危险/安全区</button>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">已标注：</div>
-                            <div class="annotate-item"><span class="annotate-dot red"></span><span>B区道路（危险区域）</span></div>
-                            <div class="annotate-item"><span class="annotate-dot green"></span><span>2号楼地下（安全区域）</span></div>
-                        </div>
-
-                        <button class="button-large" style="background: linear-gradient(135deg, #52C41A 0%, #389E0D 100%);" onclick="showInterface(3)">✅ 确认上报</button>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面3: 任务监控 -->
-            <div id="interface-3" class="hidden">
-                <h2 class="interface-title">📋 单兵终端APP - 任务监控</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
-                            <span style="font-weight: 600;">📋 当前任务</span>
-                            <span></span>
-                        </div>
-
-                        <div class="card">
-                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">📋 任务ID</div>
-                            <div style="font-size: 16px; font-weight: 600; margin-bottom: 10px;">#2024-05-20-001</div>
-                            <span class="task-status running">🟢 执行中</span>
-                            <div style="font-size: 14px; color: #666; margin-top: 10px;">预计到达：12:30</div>
-                        </div>
-
-                        <div class="card">
-                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">━━━━━━━━━━━━━━━━━━ 60%</div>
-                            <div style="font-size: 12px; color: #666;">剩余时间：12分钟</div>
-                        </div>
-
-                        <div class="section-title">📍 飞行路径</div>
-                        <div style="background: #E6F7FF; border-radius: 12px; padding: 15px; margin-bottom: 15px;">
-                            <div style="font-size: 12px; color: #007AFF; margin-bottom: 5px;">🚀 起点</div>
-                            <div style="font-size: 16px; font-weight: 600; margin-bottom: 10px;">后方阵地</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">📍 目标</div>
-                            <div style="font-size: 14px; color: #333;">A区街角12号背侧</div>
-                        </div>
-
-                        <div class="card">
-                            <div style="font-size: 14px; color: #666; margin-bottom: 10px;">📦 投放点位置</div>
-                            <div style="border: 2px dashed #FF4D4F; border-radius: 8px; padding: 15px; text-align: center;">
-                                <div style="font-size: 24px; margin-bottom: 5px;">📦</div>
-                                <div style="font-weight: 600; color: #FF4D4F;">投放点</div>
-                                <div class="risk-score">安全系数: 92%</div>
-                            </div>
-                        </div>
-
-                        <div class="card" style="background: #FFF3F3; border: 1px solid #FFCCC7;">
-                            <div style="font-size: 14px; color: #FF4D4F;">🚨 紧急操作</div>
-                            <div style="display: flex; gap: 8px; margin-top: 10px;">
-                                <button class="control-btn primary" onclick="showInterface(6)">📍 更新位置</button>
-                                <button class="control-btn secondary" onclick="showInterface(5)">🚀 查看无人机</button>
-                            </div>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面4: 投放点选择 -->
-            <div id="interface-4" class="hidden">
-                <h2 class="interface-title">🎯 单兵终端APP - 投放点选择</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(2)">← 返回</span>
-                            <span style="font-weight: 600;">🎯 选择投放点</span>
-                            <span></span>
-                        </div>
-
-                        <div style="font-size: 18px; font-weight: 600; margin-bottom: 20px;">🎯 推荐投放点列表</div>
-
-                        <div class="card">
-                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">📍 安全点 #1</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">安全系数: 92% | 距离: 5m</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 10px;">原因: 深掩体保护，视角盲区</div>
-                            <button class="select-btn">✅ 选择此点</button>
-                        </div>
-
-                        <div class="card">
-                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">📍 安全点 #2</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">安全系数: 85% | 距离: 12m</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 10px;">原因: 钢筋混凝土建筑内部</div>
-                            <button class="select-btn">✅ 选择此点</button>
-                        </div>
-
-                        <div class="card" style="background: #FFF3F3; border: 1px solid #FFCCC7;">
-                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">⚠️ 陷阱点 #3</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">安全系数: 35% | 距离: 20m</div>
-                            <div style="font-size: 12px; color: #666; margin-bottom: 10px;">原因: 孤立断墙，成瞄准点</div>
-                            <button class="avoid-btn">❌ 避开此点</button>
-                        </div>
-
-                        <button class="button-large" style="background: linear-gradient(135deg, #52C41A 0%, #389E0D 100%);" onclick="showInterface(3)">✅ 确认选择</button>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面5: 无人机状态监控(单兵) -->
-            <div id="interface-5" class="hidden">
-                <h2 class="interface-title">🚀 单兵终端APP - 无人机状态</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
-                            <span style="font-weight: 600;">🚀 无人机状态</span>
-                            <span></span>
-                        </div>
-
-                        <div class="card">
-                            <div class="stat-item"><span class="stat-label">无人机ID</span><span class="stat-value">无人机-01</span></div>
-                            <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#001</span></div>
-                            <div class="stat-item"><span class="stat-label">状态</span><span class="stat-value"><span class="tag tag-success">🟢 飞行中</span></span></div>
-                            <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角12号</span></div>
-                            <div class="stat-item"><span class="stat-label">剩余电量</span><span class="stat-value">85%</span></div>
-                            <div class="stat-item"><span class="stat-label">预计到达</span><span class="stat-value">12:30</span></div>
-                        </div>
-
-                        <div class="section-title">📊 实时数据</div>
-                        <div class="card">
-                            <div class="stat-item"><span class="stat-label">速度</span><span class="stat-value">8.5m/s</span></div>
-                            <div class="stat-item"><span class="stat-label">高度</span><span class="stat-value">15m</span></div>
-                            <div class="stat-item"><span class="stat-label">距离目标</span><span class="stat-value">500m</span></div>
-                            <div class="stat-item"><span class="stat-label">温度</span><span class="stat-value">38°C</span></div>
-                        </div>
-
-                        <div class="section-title">📋 最近动态</div>
-                        <div class="card">
-                            <div style="font-size: 12px; color: #666; padding: 8px 0; border-bottom: 1px solid #f0f0f0;"><span style="color: #999;">12:25:30</span> 到达投放点</div>
-                            <div style="font-size: 12px; color: #666; padding: 8px 0; border-bottom: 1px solid #f0f0f0;"><span style="color: #999;">12:20:45</span> 接收任务指令</div>
-                            <div style="font-size: 12px; color: #666; padding: 8px 0;"><span style="color: #999;">12:10:00</span> 任务分配</div>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面6: 位置更新 -->
-            <div id="interface-6" class="hidden">
-                <h2 class="interface-title">📍 单兵终端APP - 位置更新</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
-                            <span style="font-weight: 600;">📍 位置更新</span>
-                            <span></span>
-                        </div>
-
-                        <div class="card">
-                            <div class="stat-item"><span class="stat-label">请求位置</span><span class="stat-value">A区街角12号</span></div>
-                            <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角15号</span></div>
-                            <div class="stat-item"><span class="stat-label">偏移距离</span><span class="stat-value" style="color: #FF4D4F;">50m</span></div>
-                            <div class="stat-item"><span class="stat-label">偏移时间</span><span class="stat-value">5分钟前</span></div>
-                        </div>
-
-                        <div class="card" style="background: #F0F0F0; border: 2px dashed #007AFF; height: 120px; display: flex; align-items: center; justify-content: center;">
-                            <div style="text-align: center;">
-                                <div style="font-size: 30px; margin-bottom: 5px;">🗺️</div>
-                                <div style="color: #666;">地图区域</div>
-                            </div>
-                        </div>
-
-                        <div class="card" style="background: #FFF7E6; border: 1px solid #FFD591;">
-                            <div style="font-size: 12px; color: #FA8C16; margin-bottom: 8px;">⚠️ 注意事项</div>
-                            <div style="font-size: 12px; color: #666;">• 无人机距离新位置：约50米</div>
-                            <div style="font-size: 12px; color: #666;">• 无人机剩余电量：85%（可支持返回）</div>
-                        </div>
-
-                        <div style="display: flex; gap: 10px; margin-top: 15px;">
-                            <button class="control-btn primary" style="flex: 1;" onclick="showInterface(3)">✅ 更新投放点</button>
-                            <button class="control-btn secondary" style="flex: 1;">前往原投放点</button>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面7: 个人中心 -->
-            <div id="interface-7" class="hidden">
-                <h2 class="interface-title">👤 单兵终端APP - 个人中心</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
-                            <span style="font-weight: 600;">👤 个人中心</span>
-                            <span></span>
-                        </div>
-
-                        <div class="user-card">
-                            <div style="font-size: 24px; margin-bottom: 5px;">👤</div>
-                            <div style="font-size: 18px; font-weight: 600; margin-bottom: 5px;">前线士兵：张三</div>
-                            <div style="font-size: 14px; opacity: 0.9;">所属：第3步兵师/1连 | 职位：狙击手</div>
-                        </div>
-
-                        <div class="section-title">📊 任务统计</div>
-                        <div class="card">
-                            <div style="display: flex; justify-content: space-around; text-align: center;">
-                                <div><div style="font-size: 24px; font-weight: 600; color: #52C41A;">128</div><div style="font-size: 12px; color: #666;">已完成</div></div>
-                                <div><div style="font-size: 24px; font-weight: 600; color: #1890FF;">3</div><div style="font-size: 12px; color: #666;">进行中</div></div>
-                                <div><div style="font-size: 24px; font-weight: 600; color: #FFA940;">5</div><div style="font-size: 12px; color: #666;">待处理</div></div>
-                                <div><div style="font-size: 24px; font-weight: 600; color: #FF4D4F;">2</div><div style="font-size: 12px; color: #666;">已取消</div></div>
-                            </div>
-                        </div>
-
-                        <div class="section-title">📋 功能菜单</div>
-                        <div class="card">
-                            <div class="menu-item" onclick="showInterface(1)"><span>🏠 返回首页</span><span style="color: #999;">→</span></div>
-                            <div class="menu-item" onclick="showInterface(2)"><span>✍️ 新建需求</span><span style="color: #999;">→</span></div>
-                            <div class="menu-item" onclick="showInterface(5)"><span>🚀 无人机状态</span><span style="color: #999;">→</span></div>
-                            <div class="menu-item" onclick="showInterface(8)"><span>⚙️ 系统设置</span><span style="color: #999;">→</span></div>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面8: 系统设置 -->
-            <div id="interface-8" class="hidden">
-                <h2 class="interface-title">⚙️ 单兵终端APP - 系统设置</h2>
-                <div class="phone-frame">
-                    <div class="phone-notch"></div>
-                    <div class="phone-screen">
-                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
-
-                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
-                            <span class="nav-link" onclick="showInterface(7)">← 返回</span>
-                            <span style="font-weight: 600;">⚙️ 系统设置</span>
-                            <span></span>
-                        </div>
-
-                        <div class="section-title">📋 常规设置</div>
-                        <div class="card">
-                            <div class="menu-item"><span>🌐 语言</span><span style="color: #666;">🇨🇳 简体中文 →</span></div>
-                            <div class="menu-item"><span>🌙 主题模式</span><span style="color: #666;">◉ 深色 →</span></div>
-                            <div class="menu-item"><span>🔔 消息通知</span><span style="color: #52C41A;">●</span></div>
-                            <div class="menu-item"><span>📥 自动更新</span><span style="color: #52C41A;">●</span></div>
-                        </div>
-
-                        <div class="section-title">🔒 安全设置</div>
-                        <div class="card">
-                            <div class="menu-item"><span>🔐 启用生物识别</span><span style="color: #52C41A;">●</span></div>
-                            <div class="menu-item"><span>🔑 修改登录密码</span><span style="color: #007AFF;">修改 →</span></div>
-                            <div class="menu-item"><span>📧 联系方式</span><span style="color: #666;">138****8888</span></div>
-                        </div>
-
-                        <div class="section-title">ℹ️ 关于</div>
-                        <div class="card">
-                            <div class="stat-item"><span class="stat-label">版本</span><span class="stat-value">v1.0.0</span></div>
-                            <div class="stat-item"><span class="stat-label">开发者</span><span class="stat-value">XXX团队</span></div>
-                        </div>
-
-                        <div class="card" style="background: #FFF3F3; border: 1px solid #FFCCC7;">
-                            <div style="font-size: 14px; color: #FF4D4F; margin-bottom: 10px;">🚨 紧急按钮</div>
-                            <button class="button-large" style="background: linear-gradient(135deg, #FF4D4F 0%, #D9363E 100%);">⚠️ 一键求救</button>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- ==================== 后勤保障系统界面 ==================== -->
-
-            <!-- 界面9: 任务调度 -->
-            <div id="interface-9" class="hidden">
-                <h2 class="interface-title">🖥️ 后勤保障系统 - 任务调度</h2>
-                <div style="background: #F5F5F5; border-radius: 12px; padding: 15px;">
-                    <div class="stat-item"><span class="stat-label">待处理需求</span><span class="stat-value" style="color: #FF4D4F;">5</span></div>
-                    <div class="stat-item"><span class="stat-label">执行中任务</span><span class="stat-value" style="color: #52C41A;">3</span></div>
-                    <div class="stat-item"><span class="stat-label">已完成</span><span class="stat-value">128</span></div>
-                    <div class="stat-item"><span class="stat-label">无人机状态</span><span class="stat-value">3空闲, 2飞行中</span></div>
-                </div>
-
-                <div class="section-title" style="margin-top: 20px;">📋 待处理需求列表</div>
-
-                <div class="card" style="background: #F0F7FF; border-left: 4px solid #007AFF; cursor: pointer;" onclick="showInterface(10)">
-                    <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#001</span></div>
-                    <div class="stat-item"><span class="stat-label">人员</span><span class="stat-value">张三</span></div>
-                    <div class="stat-item"><span class="stat-label">物资</span><span class="stat-value">20发弹药</span></div>
-                    <div class="stat-item"><span class="stat-label">位置</span><span class="stat-value">A区街角12号</span></div>
-                    <div class="stat-item"><span class="stat-label">紧急程度</span><span class="stat-value"><span class="tag tag-danger">🔴 紧急</span></span></div>
-                </div>
-
-                <div class="card" style="background: #F6FFED; border-left: 4px solid #52C41A; cursor: pointer;" onclick="showInterface(10)">
-                    <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#002</span></div>
-                    <div class="stat-item"><span class="stat-label">人员</span><span class="stat-value">李四</span></div>
-                    <div class="stat-item"><span class="stat-label">物资</span><span class="stat-value">5份食物</span></div>
-                    <div class="stat-item"><span class="stat-label">位置</span><span class="stat-value">B区巷道5号</span></div>
-                </div>
-
-                <button class="control-btn primary" style="width: 100%; margin-top: 10px;" onclick="showInterface(11)">🚀 查看无人机状态</button>
-            </div>
-
-            <!-- 界面10: 需求详情 -->
-            <div id="interface-10" class="hidden">
-                <h2 class="interface-title">📋 后勤保障系统 - 需求详情</h2>
-                <div style="background: #F5F5F5; border-radius: 12px; padding: 15px;">
-                    <div style="display: flex; gap: 8px; margin-bottom: 15px;">
-                        <span class="nav-link" onclick="showInterface(9)">← 返回列表</span>
-                        <span style="font-weight: 600;">需求详情 #001</span>
-                    </div>
-
-                    <div class="card">
-                        <div class="stat-item"><span class="stat-label">📋 任务ID</span><span class="stat-value">#2024-05-20-001</span></div>
-                        <div class="stat-item"><span class="stat-label">提交时间</span><span class="stat-value">12:00</span></div>
-                        <div class="stat-item"><span class="stat-label">人员</span><span class="stat-value">张三 (第3步兵师/1连)</span></div>
-                        <div class="stat-item"><span class="stat-label">状态</span><span class="stat-value" style="color: #FF4D4F;">待调度</span></div>
-                    </div>
-
-                    <div class="section-title">📦 物资信息</div>
-                    <div class="card">
-                        <div class="stat-item"><span class="stat-label">物品名称</span><span class="stat-value">弹药</span></div>
-                        <div class="stat-item"><span class="stat-label">数量</span><span class="stat-value">20发</span></div>
-                        <div class="stat-item"><span class="stat-label">紧急程度</span><span class="stat-value"><span class="tag tag-danger">🔴 紧急</span></span></div>
-                    </div>
-
-                    <div class="section-title">📍 位置信息</div>
-                    <div class="card">
-                        <div class="stat-item"><span class="stat-label">请求位置</span><span class="stat-value">A区街角12号</span></div>
-                        <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角12号</span></div>
-                    </div>
-
-                    <div class="section-title">⚙️ 调度选项</div>
-                    <div class="card">
-                        <div class="stat-item"><span class="stat-label">路径策略</span><span class="stat-value"><span class="tag tag-success">最安全 ← 选中</span></span></div>
-                        <div class="stat-item"><span class="stat-label">无人机选择</span><span class="stat-value">无人机-02</span></div>
-                        <div class="stat-item"><span class="stat-label">预计到达时间</span><span class="stat-value">12:28</span></div>
-
-                        <div style="display: flex; gap: 8px; margin-top: 15px;">
-                            <button class="control-btn primary" style="flex: 1;">✅ 确认调度</button>
-                            <button class="control-btn secondary" style="flex: 1;">❌ 拒绝</button>
-                        </div>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 界面11: 无人机状态监控(后勤) -->
-            <div id="interface-11" class="hidden">
-                <h2 class="interface-title">🚀 后勤保障系统 - 无人机状态监控</h2>
-                <div style="background: #F5F5F5; border-radius: 12px; padding: 15px;">
-                    <div style="display: flex; gap: 8px; margin-bottom: 15px;">
-                        <span class="nav-link" onclick="showInterface(9)">← 返回列表</span>
-                        <span style="font-weight: 600;">🚀 无人机监控</span>
-                        <span></span>
-                    </div>
-
-                    <div class="card" style="background: #F0F7FF; border-left: 4px solid #007AFF;">
-                        <div class="stat-item"><span class="stat-label">无人机ID</span><span class="stat-value">无人机-01</span></div>
-                        <div class="stat-item"><span class="stat-label">所属人员</span><span class="stat-value">张三</span></div>
-                        <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#001</span></div>
-                        <div class="stat-item"><span class="stat-label">状态</span><span class="stat-value"><span class="tag tag-success">🟢 飞行中</span></span></div>
-                        <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角12号背侧</span></div>
-                        <div class="stat-item"><span class="stat-label">剩余电量</span><span class="stat-value">85%</span></div>
-                        <div class="stat-item"><span class="stat-label">预计到达</span><span class="stat-value">12:30</span></div>
-                    </div>
-
-                    <div class="section-title">📊 实时数据</div>
-                    <div class="card">
-                        <div class="stat-item"><span class="stat-label">速度</span><span class="stat-value">8.5m/s</span></div>
-                        <div class="stat-item"><span class="stat-label">高度</span><span class="stat-value">15m</span></div>
-                        <div class="stat-item"><span class="stat-label">距离目标</span><span class="stat-value">500m</span></div>
-                        <div class="stat-item"><span class="stat-label">信号强度</span><span class="stat-value">98%</span></div>
-                    </div>
-
-                    <div class="section-title">⚙️ 控制面板</div>
-                    <div class="card">
-                        <div style="display: flex; gap: 10px; flex-wrap: wrap;">
-                            <button class="control-btn primary" style="flex: 1;">⏸️ 暂停任务</button>
-                            <button class="control-btn primary" style="flex: 1; background: #FF4D4F;">🛬 紧急返航</button>
-                        </div>
-                        <button class="control-btn secondary" style="width: 100%; margin-top: 8px;">重新规划路径</button>
-                    </div>
-                </div>
-            </div>
-        </div>
-    </div>
-
-    <script>
-        // 当前设备类型
-        let currentDevice = 'soldier';
-        // 当前界面ID
-        let currentInterface = 1;
-
-        // 切换设备
-        function switchDevice(device) {
-            currentDevice = device;
-
-            // 更新设备标签
-            document.querySelectorAll('.device-tab').forEach(tab => tab.classList.remove('active'));
-            event.target.classList.add('active');
-
-            // 显示/隐藏导航
-            document.getElementById('soldier-nav').classList.toggle('hidden', device !== 'soldier');
-            document.getElementById('logistics-nav').classList.toggle('hidden', device !== 'logistics');
-
-            // 显示第一个界面
-            if (device === 'soldier') {
-                showInterface(1);
-            } else {
-                showInterface(9);
-            }
-        }
-
-        // 显示界面
-        function showInterface(num) {
-            currentInterface = num;
-
-            // 隐藏所有界面
-            for (let i = 1; i <= 11; i++) {
-                const el = document.getElementById('interface-' + i);
-                if (el) el.classList.add('hidden');
-            }
-
-            // 显示目标界面
-            const target = document.getElementById('interface-' + num);
-            if (target) target.classList.remove('hidden');
-
-            // 更新导航按钮状态
-            document.querySelectorAll('.nav-btn').forEach(btn => btn.classList.remove('active'));
-
-            // 找到对应的导航按钮并激活
-            const navBtns = document.querySelectorAll('.nav-btn');
-            if (num >= 1 && num <= 8) {
-                // 单兵终端APP
-                const soldierNav = document.getElementById('soldier-nav');
-                const btns = soldierNav.querySelectorAll('.nav-btn');
-                const index = num - 1;
-                if (btns[index]) btns[index].classList.add('active');
-            } else {
-                // 后勤保障系统
-                const logisticsNav = document.getElementById('logistics-nav');
-                const btns = logisticsNav.querySelectorAll('.nav-btn');
-                const index = num - 9;
-                if (btns[index]) btns[index].classList.add('active');
-            }
-
-            // 滚动到顶部
-            window.scrollTo({ top: 0, behavior: 'smooth' });
-        }
-
-        // 初始化
-        showInterface(1);
-    </script>
-</body>
-</html>
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/.built_by b/src/闪光检测/flash_detector_ws/build/.built_by
deleted file mode 100644
index 0e1d4c5..0000000
--- a/src/闪光检测/flash_detector_ws/build/.built_by
+++ /dev/null
@@ -1 +0,0 @@
-catkin build
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/.catkin_tools.yaml b/src/闪光检测/flash_detector_ws/build/.catkin_tools.yaml
deleted file mode 100644
index 84ac53e..0000000
--- a/src/闪光检测/flash_detector_ws/build/.catkin_tools.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-devel_space: /home/mc/ZhiTu/flash_detector_ws/devel
-install: false
-install_space: /home/mc/ZhiTu/flash_detector_ws/install
-profile: default
-source_space: /home/mc/ZhiTu/flash_detector_ws/src
-workspace: /home/mc/ZhiTu/flash_detector_ws
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CATKIN_IGNORE b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CATKIN_IGNORE
deleted file mode 100644
index e69de29..0000000
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeCache.txt b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeCache.txt
deleted file mode 100644
index bb431ae..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeCache.txt
+++ /dev/null
@@ -1,688 +0,0 @@
-# This is the CMakeCache file.
-# For build in directory: /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
-# It was generated by CMake: /usr/bin/cmake
-# You can edit this file to change values found and used by cmake.
-# If you do not want to change any of the values, simply exit the editor.
-# If you do want to change a value, simply edit, save, and exit the editor.
-# The syntax for the file is as follows:
-# KEY:TYPE=VALUE
-# KEY is the name of a variable in the cache.
-# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
-# VALUE is the current value for the KEY.
-
-########################
-# EXTERNAL cache entries
-########################
-
-//Builds the googlemock subproject
-BUILD_GMOCK:BOOL=ON
-
-//Build dynamically-linked binaries
-BUILD_SHARED_LIBS:BOOL=ON
-
-//catkin devel space
-CATKIN_DEVEL_PREFIX:PATH=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-
-//Catkin enable testing
-CATKIN_ENABLE_TESTING:BOOL=ON
-
-//Prefix to apply to package generated via gendebian
-CATKIN_PACKAGE_PREFIX:STRING=
-
-//Catkin skip testing
-CATKIN_SKIP_TESTING:BOOL=OFF
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deleted file mode 100644
index 69cfdba..0000000
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diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CTestCustom.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CTestCustom.cmake
deleted file mode 100644
index 14956f3..0000000
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+++ /dev/null
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diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CTestTestfile.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CTestTestfile.cmake
deleted file mode 100644
index 9008225..0000000
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+++ /dev/null
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diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/Makefile b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/Makefile
deleted file mode 100644
index 6ea67c5..0000000
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diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/.rosinstall.n8MbA b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/.rosinstall.n8MbA
deleted file mode 100644
index ac74b81..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/.rosinstall.n8MbA
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/_setup_util.py.4bscr b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/_setup_util.py.4bscr
deleted file mode 100644
index c8d8434..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/_setup_util.py.4bscr
+++ /dev/null
@@ -1,304 +0,0 @@
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-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
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-from __future__ import print_function
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-import argparse
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-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/env.sh.HvqFl b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/env.sh.HvqFl
deleted file mode 100644
index 8aa9d24..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/env.sh.HvqFl
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf
deleted file mode 100644
index 7da0d97..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.fish.SQsa2 b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.fish.SQsa2
deleted file mode 100644
index 5cddcfa..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.fish.SQsa2
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.sh.H97kj b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.sh.H97kj
deleted file mode 100644
index a88f397..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.sh.H97kj
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.zsh.K94LD b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.zsh.K94LD
deleted file mode 100644
index e692acc..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.zsh.K94LD
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.bash.ae6J6 b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.bash.ae6J6
deleted file mode 100644
index ff47af8..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.bash.ae6J6
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.fish.f2GaO b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.fish.f2GaO
deleted file mode 100644
index ef257e5..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.fish.f2GaO
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.sh.B68Do b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.sh.B68Do
deleted file mode 100644
index 232bec8..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.sh.B68Do
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.zsh.odGzO b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.zsh.odGzO
deleted file mode 100644
index 9f780b7..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.zsh.odGzO
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin/catkin_generated/version/package.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin/catkin_generated/version/package.cmake
deleted file mode 100644
index 590a615..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin/catkin_generated/version/package.cmake
+++ /dev/null
@@ -1,24 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "catkin")
-set(catkin_VERSION "0.8.12")
-set(catkin_MAINTAINER "Geoffrey Biggs <geoff@openrobotics.org>, Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>")
-set(catkin_PACKAGE_FORMAT "3")
-set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
-set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
-set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
-set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_TEST_DEPENDS "python-mock" "python-nose" "python3-nose")
-set(catkin_DOC_DEPENDS )
-set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
-set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
-set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
-set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/env_cached.sh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/env_cached.sh
deleted file mode 100644
index d6be91d..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/env_cached.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup_cached.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup_cached.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/generate_cached_setup.py b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/generate_cached_setup.py
deleted file mode 100644
index 64dbedd..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/generate_cached_setup.py
+++ /dev/null
@@ -1,30 +0,0 @@
-# -*- coding: utf-8 -*-
-from __future__ import print_function
-
-import os
-import stat
-import sys
-
-# find the import for catkin's python package - either from source space or from an installed underlay
-if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
-    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
-try:
-    from catkin.environment_cache import generate_environment_script
-except ImportError:
-    # search for catkin package in all workspaces and prepend to path
-    for workspace in '/opt/ros/noetic'.split(';'):
-        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
-        if os.path.isdir(os.path.join(python_path, 'catkin')):
-            sys.path.insert(0, python_path)
-            break
-    from catkin.environment_cache import generate_environment_script
-
-code = generate_environment_script('/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh')
-
-output_filename = '/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/setup_cached.sh'
-with open(output_filename, 'w') as f:
-    # print('Generate script for cached setup "%s"' % output_filename)
-    f.write('\n'.join(code))
-
-mode = os.stat(output_filename).st_mode
-os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/.rosinstall b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/.rosinstall
deleted file mode 100644
index ab3a66e..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/install/setup.sh
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/_setup_util.py b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/_setup_util.py
deleted file mode 100644
index c8d8434..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/_setup_util.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuild.pc b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuild.pc
deleted file mode 100644
index 1147b1c..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuild.pc
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=/home/mc/ZhiTu/flash_detector_ws/install
-
-Name: catkin_tools_prebuild
-Description: Description of catkin_tools_prebuild
-Version: 0.0.0
-Cflags: 
-Libs: -L${prefix}/lib 
-Requires: 
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake
deleted file mode 100644
index 7fd9f99..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig-version.cmake.in
-set(PACKAGE_VERSION "0.0.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake
deleted file mode 100644
index a1d7499..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake
+++ /dev/null
@@ -1,225 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig.cmake.in
-
-# append elements to a list and remove existing duplicates from the list
-# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
-# self contained
-macro(_list_append_deduplicate listname)
-  if(NOT "${ARGN}" STREQUAL "")
-    if(${listname})
-      list(REMOVE_ITEM ${listname} ${ARGN})
-    endif()
-    list(APPEND ${listname} ${ARGN})
-  endif()
-endmacro()
-
-# append elements to a list if they are not already in the list
-# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
-# self contained
-macro(_list_append_unique listname)
-  foreach(_item ${ARGN})
-    list(FIND ${listname} ${_item} _index)
-    if(_index EQUAL -1)
-      list(APPEND ${listname} ${_item})
-    endif()
-  endforeach()
-endmacro()
-
-# pack a list of libraries with optional build configuration keywords
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_pack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  set(_argn ${ARGN})
-  list(LENGTH _argn _count)
-  set(_index 0)
-  while(${_index} LESS ${_count})
-    list(GET _argn ${_index} lib)
-    if("${lib}" MATCHES "^(debug|optimized|general)$")
-      math(EXPR _index "${_index} + 1")
-      if(${_index} EQUAL ${_count})
-        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
-      endif()
-      list(GET _argn ${_index} library)
-      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
-    else()
-      list(APPEND ${VAR} "${lib}")
-    endif()
-    math(EXPR _index "${_index} + 1")
-  endwhile()
-endmacro()
-
-# unpack a list of libraries with optional build configuration keyword prefixes
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_unpack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  foreach(lib ${ARGN})
-    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
-    list(APPEND ${VAR} "${lib}")
-  endforeach()
-endmacro()
-
-
-if(catkin_tools_prebuild_CONFIG_INCLUDED)
-  return()
-endif()
-set(catkin_tools_prebuild_CONFIG_INCLUDED TRUE)
-
-# set variables for source/devel/install prefixes
-if("FALSE" STREQUAL "TRUE")
-  set(catkin_tools_prebuild_SOURCE_PREFIX /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild)
-  set(catkin_tools_prebuild_DEVEL_PREFIX /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild)
-  set(catkin_tools_prebuild_INSTALL_PREFIX "")
-  set(catkin_tools_prebuild_PREFIX ${catkin_tools_prebuild_DEVEL_PREFIX})
-else()
-  set(catkin_tools_prebuild_SOURCE_PREFIX "")
-  set(catkin_tools_prebuild_DEVEL_PREFIX "")
-  set(catkin_tools_prebuild_INSTALL_PREFIX /home/mc/ZhiTu/flash_detector_ws/install)
-  set(catkin_tools_prebuild_PREFIX ${catkin_tools_prebuild_INSTALL_PREFIX})
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'catkin_tools_prebuild' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  message("${_msg}")
-endif()
-
-# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(catkin_tools_prebuild_FOUND_CATKIN_PROJECT TRUE)
-
-if(NOT " " STREQUAL " ")
-  set(catkin_tools_prebuild_INCLUDE_DIRS "")
-  set(_include_dirs "")
-  if(NOT " " STREQUAL " ")
-    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
-  elseif(NOT " " STREQUAL " ")
-    set(_report "Check the website '' for information and consider reporting the problem.")
-  else()
-    set(_report "Report the problem to the maintainer 'jbohren <jbo@jhu.edu>' and request to fix the problem.")
-  endif()
-  foreach(idir ${_include_dirs})
-    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
-      set(include ${idir})
-    elseif("${idir} " STREQUAL "include ")
-      get_filename_component(include "${catkin_tools_prebuild_DIR}/../../../include" ABSOLUTE)
-      if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'catkin_tools_prebuild' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
-      endif()
-    else()
-      message(FATAL_ERROR "Project 'catkin_tools_prebuild' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
-    endif()
-    _list_append_unique(catkin_tools_prebuild_INCLUDE_DIRS ${include})
-  endforeach()
-endif()
-
-set(libraries "")
-foreach(library ${libraries})
-  # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is
-  if("${library}" MATCHES "^(debug|optimized|general)$")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-l")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-")
-    # This is a linker flag/option (like -pthread)
-    # There's no standard variable for these, so create an interface library to hold it
-    if(NOT catkin_tools_prebuild_NUM_DUMMY_TARGETS)
-      set(catkin_tools_prebuild_NUM_DUMMY_TARGETS 0)
-    endif()
-    # Make sure the target name is unique
-    set(interface_target_name "catkin::catkin_tools_prebuild::wrapped-linker-option${catkin_tools_prebuild_NUM_DUMMY_TARGETS}")
-    while(TARGET "${interface_target_name}")
-      math(EXPR catkin_tools_prebuild_NUM_DUMMY_TARGETS "${catkin_tools_prebuild_NUM_DUMMY_TARGETS}+1")
-      set(interface_target_name "catkin::catkin_tools_prebuild::wrapped-linker-option${catkin_tools_prebuild_NUM_DUMMY_TARGETS}")
-    endwhile()
-    add_library("${interface_target_name}" INTERFACE IMPORTED)
-    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
-      set_property(
-        TARGET
-        "${interface_target_name}"
-        APPEND PROPERTY
-        INTERFACE_LINK_LIBRARIES "${library}")
-    else()
-      target_link_options("${interface_target_name}" INTERFACE "${library}")
-    endif()
-    list(APPEND catkin_tools_prebuild_LIBRARIES "${interface_target_name}")
-  elseif(${library} MATCHES "^\\$<")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(TARGET ${library})
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(IS_ABSOLUTE ${library})
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  else()
-    set(lib_path "")
-    set(lib "${library}-NOTFOUND")
-    # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/mc/ZhiTu/flash_detector_ws/install/lib;/opt/ros/noetic/lib)
-      find_library(lib ${library}
-        PATHS ${path}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-      if(lib)
-        set(lib_path ${path})
-        break()
-      endif()
-    endforeach()
-    if(lib)
-      _list_append_unique(catkin_tools_prebuild_LIBRARY_DIRS ${lib_path})
-      list(APPEND catkin_tools_prebuild_LIBRARIES ${lib})
-    else()
-      # as a fall back for non-catkin libraries try to search globally
-      find_library(lib ${library})
-      if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'catkin_tools_prebuild'?  Did you find_package() it before the subdirectory containing its code is included?")
-      endif()
-      list(APPEND catkin_tools_prebuild_LIBRARIES ${lib})
-    endif()
-  endif()
-endforeach()
-
-set(catkin_tools_prebuild_EXPORTED_TARGETS "")
-# create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${catkin_tools_prebuild_EXPORTED_TARGETS})
-  if(NOT TARGET ${t})
-    add_custom_target(${t})
-  endif()
-endforeach()
-
-set(depends "")
-foreach(depend ${depends})
-  string(REPLACE " " ";" depend_list ${depend})
-  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 catkin_tools_prebuild_dep)
-  list(LENGTH depend_list count)
-  if(${count} EQUAL 1)
-    # simple dependencies must only be find_package()-ed once
-    if(NOT ${catkin_tools_prebuild_dep}_FOUND)
-      find_package(${catkin_tools_prebuild_dep} REQUIRED NO_MODULE)
-    endif()
-  else()
-    # dependencies with components must be find_package()-ed again
-    list(REMOVE_AT depend_list 0)
-    find_package(${catkin_tools_prebuild_dep} REQUIRED NO_MODULE ${depend_list})
-  endif()
-  _list_append_unique(catkin_tools_prebuild_INCLUDE_DIRS ${${catkin_tools_prebuild_dep}_INCLUDE_DIRS})
-
-  # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(catkin_tools_prebuild_LIBRARIES ${catkin_tools_prebuild_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${catkin_tools_prebuild_dep}_LIBRARIES})
-  _list_append_deduplicate(catkin_tools_prebuild_LIBRARIES ${_libraries})
-  # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(catkin_tools_prebuild_LIBRARIES ${catkin_tools_prebuild_LIBRARIES})
-
-  _list_append_unique(catkin_tools_prebuild_LIBRARY_DIRS ${${catkin_tools_prebuild_dep}_LIBRARY_DIRS})
-  _list_append_deduplicate(catkin_tools_prebuild_EXPORTED_TARGETS ${${catkin_tools_prebuild_dep}_EXPORTED_TARGETS})
-endforeach()
-
-set(pkg_cfg_extras "")
-foreach(extra ${pkg_cfg_extras})
-  if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${catkin_tools_prebuild_DIR}/${extra})
-  endif()
-  include(${extra})
-endforeach()
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/env.sh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/env.sh
deleted file mode 100644
index 8aa9d24..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.fish b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.fish
deleted file mode 100644
index 55532ca..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.fish
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/install
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.sh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.sh
deleted file mode 100644
index 8e8dbb4..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/install}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.zsh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.bash b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.fish b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.fish
deleted file mode 100644
index bf962a2..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.fish
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/install
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.sh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.sh
deleted file mode 100644
index 011442c..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/install}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.zsh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/package.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/package.cmake
deleted file mode 100644
index 12be1d5..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/package.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "catkin_tools_prebuild")
-set(catkin_tools_prebuild_VERSION "0.0.0")
-set(catkin_tools_prebuild_MAINTAINER "jbohren <jbo@jhu.edu>")
-set(catkin_tools_prebuild_PACKAGE_FORMAT "1")
-set(catkin_tools_prebuild_BUILD_DEPENDS )
-set(catkin_tools_prebuild_BUILD_EXPORT_DEPENDS )
-set(catkin_tools_prebuild_BUILDTOOL_DEPENDS "catkin")
-set(catkin_tools_prebuild_BUILDTOOL_EXPORT_DEPENDS )
-set(catkin_tools_prebuild_EXEC_DEPENDS )
-set(catkin_tools_prebuild_RUN_DEPENDS )
-set(catkin_tools_prebuild_TEST_DEPENDS )
-set(catkin_tools_prebuild_DOC_DEPENDS )
-set(catkin_tools_prebuild_URL_WEBSITE "")
-set(catkin_tools_prebuild_URL_BUGTRACKER "")
-set(catkin_tools_prebuild_URL_REPOSITORY "")
-set(catkin_tools_prebuild_DEPRECATED "")
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.develspace.context.pc.py b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.develspace.context.pc.py
deleted file mode 100644
index 8cbc833..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.develspace.context.pc.py
+++ /dev/null
@@ -1,8 +0,0 @@
-# generated from catkin/cmake/template/pkg.context.pc.in
-CATKIN_PACKAGE_PREFIX = ""
-PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
-PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
-PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
-PROJECT_NAME = "catkin_tools_prebuild"
-PROJECT_SPACE_DIR = "/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild"
-PROJECT_VERSION = "0.0.0"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.installspace.context.pc.py b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.installspace.context.pc.py
deleted file mode 100644
index 8cc4483..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.installspace.context.pc.py
+++ /dev/null
@@ -1,8 +0,0 @@
-# generated from catkin/cmake/template/pkg.context.pc.in
-CATKIN_PACKAGE_PREFIX = ""
-PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
-PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
-PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
-PROJECT_NAME = "catkin_tools_prebuild"
-PROJECT_SPACE_DIR = "/home/mc/ZhiTu/flash_detector_ws/install"
-PROJECT_VERSION = "0.0.0"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/setup_cached.sh b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/setup_cached.sh
deleted file mode 100644
index 9328905..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/setup_cached.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/python/catkin/environment_cache.py
-
-# based on a snapshot of the environment before and after calling the setup script
-# it emulates the modifications of the setup script without recurring computations
-
-# new environment variables
-
-# modified environment variables
-export CMAKE_PREFIX_PATH="/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild:$CMAKE_PREFIX_PATH"
-export PWD='/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild'
-export ROSLISP_PACKAGE_DIRECTORIES='/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/common-lisp'
-export ROS_PACKAGE_PATH="/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/_setup_util.py.stamp b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/_setup_util.py.stamp
deleted file mode 100644
index c8d8434..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/_setup_util.py.stamp
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/interrogate_setup_dot_py.py.stamp b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/interrogate_setup_dot_py.py.stamp
deleted file mode 100644
index 5e25fbf..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/interrogate_setup_dot_py.py.stamp
+++ /dev/null
@@ -1,255 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-from __future__ import print_function
-
-import os
-import runpy
-import sys
-from argparse import ArgumentParser
-
-setup_modules = []
-
-try:
-    import distutils.core
-    setup_modules.append(distutils.core)
-except ImportError:
-    pass
-
-try:
-    import setuptools
-    setup_modules.append(setuptools)
-except ImportError:
-    pass
-
-assert setup_modules, 'Must have distutils or setuptools installed'
-
-
-def _get_locations(pkgs, package_dir):
-    """
-    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
-
-    See http://docs.python.org/distutils/setupscript.html
-
-    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
-    """
-    # package_dir contains a dict {package_name: relativepath}
-    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
-    #
-    # '' means where to look for any package unless a parent package
-    # is listed so package bar.pot is expected at lib2/bar/pot,
-    # whereas package sup.dee is expected at src/sup/dee
-    #
-    # if package_dir does not state anything about a package,
-    # setuptool expects the package folder to be in the root of the
-    # project
-    locations = {}
-    allprefix = package_dir.get('', '')
-    for pkg in pkgs:
-        parent_location = None
-        splits = pkg.split('.')
-        # we iterate over compound name from parent to child
-        # so once we found parent, children just append to their parent
-        for key_len in range(len(splits)):
-            key = '.'.join(splits[:key_len + 1])
-            if key not in locations:
-                if key in package_dir:
-                    locations[key] = package_dir[key]
-                elif parent_location is not None:
-                    locations[key] = os.path.join(parent_location, splits[key_len])
-                else:
-                    locations[key] = os.path.join(allprefix, key)
-            parent_location = locations[key]
-    return locations
-
-
-def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
-    """
-    Generate lines to add to a cmake file which will set variables.
-
-    :param version: str, format 'int.int.int'
-    :param scripts: [list of str]: relative paths to scripts
-    :param package_dir: {modulename: path}
-    :param pkgs: [list of str] python_packages declared in catkin package
-    :param modules: [list of str] python modules
-    :param setup_module: str, setuptools or distutils
-    """
-    prefix = '%s_SETUP_PY' % package_name
-    result = []
-    if setup_module:
-        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
-    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
-    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
-
-    # Remove packages with '.' separators.
-    #
-    # setuptools allows specifying submodules in other folders than
-    # their parent
-    #
-    # The symlink approach of catkin does not work with such submodules.
-    # In the common case, this does not matter as the submodule is
-    # within the containing module.  We verify this assumption, and if
-    # it passes, we remove submodule packages.
-    locations = _get_locations(pkgs, package_dir)
-    for pkgname, location in locations.items():
-        if '.' not in pkgname:
-            continue
-        splits = pkgname.split('.')
-        # hack: ignore write-combining setup.py files for msg and srv files
-        if splits[1] in ['msg', 'srv']:
-            continue
-        # check every child has the same root folder as its parent
-        root_name = splits[0]
-        root_location = location
-        for _ in range(len(splits) - 1):
-            root_location = os.path.dirname(root_location)
-        if root_location != locations[root_name]:
-            raise RuntimeError(
-                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
-
-    # If checks pass, remove all submodules
-    pkgs = [p for p in pkgs if '.' not in p]
-
-    resolved_pkgs = []
-    for pkg in pkgs:
-        resolved_pkgs += [locations[pkg]]
-
-    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
-    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
-
-    # skip modules which collide with package names
-    filtered_modules = []
-    for modname in modules:
-        splits = modname.split('.')
-        # check all parents too
-        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
-        if any(equals_package):
-            continue
-        filtered_modules.append(modname)
-    module_locations = _get_locations(filtered_modules, package_dir)
-
-    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
-    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
-
-    return result
-
-
-def _create_mock_setup_function(setup_module, package_name, outfile):
-    """
-    Create a function to call instead of distutils.core.setup or setuptools.setup.
-
-    It just captures some args and writes them into a file that can be used from cmake.
-
-    :param package_name: name of the package
-    :param outfile: filename that cmake will use afterwards
-    :returns: a function to replace disutils.core.setup and setuptools.setup
-    """
-
-    def setup(*args, **kwargs):
-        """Check kwargs and write a scriptfile."""
-        if 'version' not in kwargs:
-            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
-            raise RuntimeError('version not found in setup.py')
-        version = kwargs['version']
-        package_dir = kwargs.get('package_dir', {})
-
-        pkgs = kwargs.get('packages', [])
-        scripts = kwargs.get('scripts', [])
-        modules = kwargs.get('py_modules', [])
-
-        unsupported_args = [
-            'entry_points',
-            'exclude_package_data',
-            'ext_modules ',
-            'ext_package',
-            'include_package_data',
-            'namespace_packages',
-            'setup_requires',
-            'use_2to3',
-            'zip_safe']
-        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
-        if used_unsupported_args:
-            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
-
-        result = generate_cmake_file(package_name=package_name,
-                                     version=version,
-                                     scripts=scripts,
-                                     package_dir=package_dir,
-                                     pkgs=pkgs,
-                                     modules=modules,
-                                     setup_module=setup_module)
-        with open(outfile, 'w') as out:
-            out.write('\n'.join(result))
-
-    return setup
-
-
-def main():
-    """Script main, parses arguments and invokes Dummy.setup indirectly."""
-    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
-    parser.add_argument('package_name', help='Name of catkin package')
-    parser.add_argument('setupfile_path', help='Full path to setup.py')
-    parser.add_argument('outfile', help='Where to write result to')
-
-    args = parser.parse_args()
-
-    # print("%s" % sys.argv)
-    # PACKAGE_NAME = sys.argv[1]
-    # OUTFILE = sys.argv[3]
-    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
-    #      file=sys.stderr)
-
-    # print("executing %s" % args.setupfile_path)
-
-    # be sure you're in the directory containing
-    # setup.py so the sys.path manipulation works,
-    # so the import of __version__ works
-    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
-
-    # patch setup() function of distutils and setuptools for the
-    # context of evaluating setup.py
-    backup_modules = {}
-    try:
-
-        for module in setup_modules:
-            backup_modules[id(module)] = module.setup
-            module.setup = _create_mock_setup_function(
-                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
-
-        runpy.run_path(args.setupfile_path)
-    finally:
-        for module in setup_modules:
-            module.setup = backup_modules[id(module)]
-
-
-if __name__ == '__main__':
-    main()
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/package.xml.stamp b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/package.xml.stamp
deleted file mode 100644
index 134c59a..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/package.xml.stamp
+++ /dev/null
@@ -1,10 +0,0 @@
-<package>
-  <name>catkin_tools_prebuild</name>
-  <description>
-    This package is used to generate catkin setup files.
-  </description>
-  <version>0.0.0</version>
-  <license>BSD</license>
-  <maintainer email="jbo@jhu.edu">jbohren</maintainer>
-  <buildtool_depend>catkin</buildtool_depend>
-</package>
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/pkg.pc.em.stamp b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/pkg.pc.em.stamp
deleted file mode 100644
index 549fb75..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/pkg.pc.em.stamp
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=@PROJECT_SPACE_DIR
-
-Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
-Description: Description of @PROJECT_NAME
-Version: @PROJECT_VERSION
-Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
-Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
-Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/cmake_install.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/cmake_install.cmake
deleted file mode 100644
index 5eac1b4..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/cmake_install.cmake
+++ /dev/null
@@ -1,176 +0,0 @@
-# Install script for directory: /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
-
-# Set the install prefix
-if(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  set(CMAKE_INSTALL_PREFIX "/home/mc/ZhiTu/flash_detector_ws/install")
-endif()
-string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
-
-# Set the install configuration name.
-if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
-  if(BUILD_TYPE)
-    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
-           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
-  else()
-    set(CMAKE_INSTALL_CONFIG_NAME "")
-  endif()
-  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
-endif()
-
-# Set the component getting installed.
-if(NOT CMAKE_INSTALL_COMPONENT)
-  if(COMPONENT)
-    message(STATUS "Install component: \"${COMPONENT}\"")
-    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
-  else()
-    set(CMAKE_INSTALL_COMPONENT)
-  endif()
-endif()
-
-# Install shared libraries without execute permission?
-if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
-  set(CMAKE_INSTALL_SO_NO_EXE "1")
-endif()
-
-# Is this installation the result of a crosscompile?
-if(NOT DEFINED CMAKE_CROSSCOMPILING)
-  set(CMAKE_CROSSCOMPILING "FALSE")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  
-      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
-        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
-      endif()
-      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
-        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
-      endif()
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/_setup_util.py")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE PROGRAM FILES "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/_setup_util.py")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/env.sh")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE PROGRAM FILES "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/env.sh")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.bash;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.bash")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.bash"
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.sh;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.sh")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.sh"
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.sh"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.zsh;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.zsh")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.zsh"
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.zsh"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.fish;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.fish")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.fish"
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.fish"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/.rosinstall")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/.rosinstall")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuild.pc")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/catkin_tools_prebuild/cmake" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake"
-    "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/catkin_tools_prebuild" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/package.xml")
-endif()
-
-if(NOT CMAKE_INSTALL_LOCAL_ONLY)
-  # Include the install script for each subdirectory.
-  include("/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/gtest/cmake_install.cmake")
-
-endif()
-
-if(CMAKE_INSTALL_COMPONENT)
-  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
-else()
-  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
-endif()
-
-string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
-       "${CMAKE_INSTALL_MANIFEST_FILES}")
-file(WRITE "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/${CMAKE_INSTALL_MANIFEST}"
-     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
deleted file mode 100644
index d4f97ab..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.16
-
-# Relative path conversion top directories.
-set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/googletest")
-set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild")
-
-# Force unix paths in dependencies.
-set(CMAKE_FORCE_UNIX_PATHS 1)
-
-
-# The C and CXX include file regular expressions for this directory.
-set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
-set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
-set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
-set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CMakeFiles/progress.marks b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CMakeFiles/progress.marks
deleted file mode 100644
index 573541a..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CMakeFiles/progress.marks
+++ /dev/null
@@ -1 +0,0 @@
-0
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CTestTestfile.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CTestTestfile.cmake
deleted file mode 100644
index 0a22f9d..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/CTestTestfile.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-# CMake generated Testfile for 
-# Source directory: /usr/src/googletest
-# Build directory: /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/gtest
-# 
-# This file includes the relevant testing commands required for 
-# testing this directory and lists subdirectories to be tested as well.
-subdirs("googlemock")
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/Makefile b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/Makefile
deleted file mode 100644
index cb5d201..0000000
--- a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/gtest/Makefile
+++ /dev/null
@@ -1,196 +0,0 @@
-# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.16
-
-# Default target executed when no arguments are given to make.
-default_target: all
-
-.PHONY : default_target
-
-# Allow only one "make -f Makefile2" at a time, but pass parallelism.
-.NOTPARALLEL:
-
-
-#=============================================================================
-# Special targets provided by cmake.
-
-# Disable implicit rules so canonical targets will work.
-.SUFFIXES:
-
-
-# Remove some rules from gmake that .SUFFIXES does not remove.
-SUFFIXES =
-
-.SUFFIXES: .hpux_make_needs_suffix_list
-
-
-# Suppress display of executed commands.
-$(VERBOSE).SILENT:
-
-
-# A target that is always out of date.
-cmake_force:
-
-.PHONY : cmake_force
-
-#=============================================================================
-# Set environment variables for the build.
-
-# The shell in which to execute make rules.
-SHELL = /bin/sh
-
-# The CMake executable.
-CMAKE_COMMAND = /usr/bin/cmake
-
-# The command to remove a file.
-RM = /usr/bin/cmake -E remove -f
-
-# Escaping for special characters.
-EQUALS = =
-
-# The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
-
-# The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
-
-#=============================================================================
-# Targets provided globally by CMake.
-
-# Special rule for the target install/strip
-install/strip: preinstall
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
-	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
-.PHONY : install/strip
-
-# Special rule for the target install/strip
-install/strip/fast: preinstall/fast
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
-	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
-.PHONY : install/strip/fast
-
-# Special rule for the target install/local
-install/local: preinstall
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
-	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
-.PHONY : install/local
-
-# Special rule for the target install/local
-install/local/fast: preinstall/fast
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
-	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
-.PHONY : install/local/fast
-
-# Special rule for the target install
-install: preinstall
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
-	/usr/bin/cmake -P cmake_install.cmake
-.PHONY : install
-
-# Special rule for the target install
-install/fast: preinstall/fast
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
-	/usr/bin/cmake -P cmake_install.cmake
-.PHONY : install/fast
-
-# Special rule for the target list_install_components
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-.PHONY : list_install_components
-
-# Special rule for the target list_install_components
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-
-.PHONY : list_install_components/fast
-
-# Special rule for the target rebuild_cache
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-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-dynamic_reconfigure/BoolParameter.h
--
-dynamic_reconfigure/IntParameter.h
--
-dynamic_reconfigure/StrParameter.h
--
-dynamic_reconfigure/DoubleParameter.h
--
-dynamic_reconfigure/GroupState.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/ConfigDescription.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-dynamic_reconfigure/Group.h
--
-dynamic_reconfigure/Config.h
--
-dynamic_reconfigure/Config.h
--
-dynamic_reconfigure/Config.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/DoubleParameter.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/Group.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-dynamic_reconfigure/ParamDescription.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/GroupState.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/IntParameter.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/ParamDescription.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/Reconfigure.h
-ros/service_traits.h
--
-dynamic_reconfigure/ReconfigureRequest.h
--
-dynamic_reconfigure/ReconfigureResponse.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/ReconfigureRequest.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-dynamic_reconfigure/Config.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/ReconfigureResponse.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-dynamic_reconfigure/Config.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/StrParameter.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/config_init_mutex.h
-boost/thread/mutex.hpp
--
-ros/macros.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/config_tools.h
-string
--
-vector
--
-dynamic_reconfigure/Config.h
--
-dynamic_reconfigure/Group.h
--
-
-/opt/ros/noetic/include/dynamic_reconfigure/server.h
-boost/function.hpp
--
-boost/thread/recursive_mutex.hpp
--
-ros/node_handle.h
--
-dynamic_reconfigure/ConfigDescription.h
--
-dynamic_reconfigure/Reconfigure.h
--
-
-/opt/ros/noetic/include/image_transport/camera_publisher.h
-ros/ros.h
--
-sensor_msgs/Image.h
--
-sensor_msgs/CameraInfo.h
--
-image_transport/single_subscriber_publisher.h
-/opt/ros/noetic/include/image_transport/image_transport/single_subscriber_publisher.h
-exports.h
-/opt/ros/noetic/include/image_transport/exports.h
-
-/opt/ros/noetic/include/image_transport/camera_subscriber.h
-ros/ros.h
--
-sensor_msgs/CameraInfo.h
--
-sensor_msgs/Image.h
--
-image_transport/transport_hints.h
-/opt/ros/noetic/include/image_transport/image_transport/transport_hints.h
-exports.h
-/opt/ros/noetic/include/image_transport/exports.h
-
-/opt/ros/noetic/include/image_transport/exception.h
-stdexcept
--
-
-/opt/ros/noetic/include/image_transport/exports.h
-ros/macros.h
--
-
-/opt/ros/noetic/include/image_transport/image_transport.h
-image_transport/publisher.h
-/opt/ros/noetic/include/image_transport/image_transport/publisher.h
-image_transport/subscriber.h
-/opt/ros/noetic/include/image_transport/image_transport/subscriber.h
-image_transport/camera_publisher.h
-/opt/ros/noetic/include/image_transport/image_transport/camera_publisher.h
-image_transport/camera_subscriber.h
-/opt/ros/noetic/include/image_transport/image_transport/camera_subscriber.h
-exports.h
-/opt/ros/noetic/include/image_transport/exports.h
-
-/opt/ros/noetic/include/image_transport/loader_fwds.h
-
-/opt/ros/noetic/include/image_transport/publisher.h
-ros/ros.h
--
-sensor_msgs/Image.h
--
-image_transport/single_subscriber_publisher.h
-/opt/ros/noetic/include/image_transport/image_transport/single_subscriber_publisher.h
-image_transport/exception.h
-/opt/ros/noetic/include/image_transport/image_transport/exception.h
-image_transport/loader_fwds.h
-/opt/ros/noetic/include/image_transport/image_transport/loader_fwds.h
-exports.h
-/opt/ros/noetic/include/image_transport/exports.h
-
-/opt/ros/noetic/include/image_transport/single_subscriber_publisher.h
-boost/noncopyable.hpp
--
-boost/function.hpp
--
-sensor_msgs/Image.h
--
-exports.h
-/opt/ros/noetic/include/image_transport/exports.h
-
-/opt/ros/noetic/include/image_transport/subscriber.h
-ros/ros.h
--
-sensor_msgs/Image.h
--
-image_transport/transport_hints.h
-/opt/ros/noetic/include/image_transport/image_transport/transport_hints.h
-image_transport/exception.h
-/opt/ros/noetic/include/image_transport/image_transport/exception.h
-image_transport/loader_fwds.h
-/opt/ros/noetic/include/image_transport/image_transport/loader_fwds.h
-exports.h
-/opt/ros/noetic/include/image_transport/exports.h
-
-/opt/ros/noetic/include/image_transport/transport_hints.h
-ros/ros.h
--
-
-/opt/ros/noetic/include/ros/advertise_options.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/message_traits.h
-/opt/ros/noetic/include/ros/ros/message_traits.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-
-/opt/ros/noetic/include/ros/advertise_service_options.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/service_callback_helper.h
-/opt/ros/noetic/include/ros/ros/service_callback_helper.h
-ros/service_traits.h
-/opt/ros/noetic/include/ros/ros/service_traits.h
-ros/message_traits.h
-/opt/ros/noetic/include/ros/ros/message_traits.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-
-/opt/ros/noetic/include/ros/assert.h
-ros/console.h
-/opt/ros/noetic/include/ros/ros/console.h
-ros/static_assert.h
-/opt/ros/noetic/include/ros/ros/static_assert.h
-ros/platform.h
--
-stdlib.h
--
-
-/opt/ros/noetic/include/ros/builtin_message_traits.h
-message_traits.h
-/opt/ros/noetic/include/ros/message_traits.h
-ros/time.h
-/opt/ros/noetic/include/ros/ros/time.h
-
-/opt/ros/noetic/include/ros/common.h
-stdint.h
--
-assert.h
--
-stddef.h
--
-string
--
-ros/assert.h
-/opt/ros/noetic/include/ros/ros/assert.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/serialized_message.h
-/opt/ros/noetic/include/ros/ros/serialized_message.h
-boost/shared_array.hpp
--
-ros/macros.h
--
-
-/opt/ros/noetic/include/ros/console.h
-console_backend.h
-/opt/ros/noetic/include/ros/console_backend.h
-cstdio
--
-sstream
--
-ros/time.h
--
-cstdarg
--
-ros/macros.h
--
-map
--
-vector
--
-log4cxx/level.h
-/opt/ros/noetic/include/ros/log4cxx/level.h
-rosconsole/macros_generated.h
-/opt/ros/noetic/include/ros/rosconsole/macros_generated.h
-
-/opt/ros/noetic/include/ros/console_backend.h
-ros/macros.h
--
-
-/opt/ros/noetic/include/ros/datatypes.h
-string
--
-vector
--
-map
--
-set
--
-list
--
-boost/shared_ptr.hpp
--
-
-/opt/ros/noetic/include/ros/duration.h
-iostream
--
-math.h
--
-stdexcept
--
-climits
--
-stdint.h
--
-rostime_decl.h
-/opt/ros/noetic/include/ros/rostime_decl.h
-
-/opt/ros/noetic/include/ros/exception.h
-stdexcept
--
-
-/opt/ros/noetic/include/ros/exceptions.h
-ros/exception.h
--
-
-/opt/ros/noetic/include/ros/forwards.h
-string
--
-vector
--
-map
--
-set
--
-list
--
-boost/shared_ptr.hpp
--
-boost/make_shared.hpp
--
-boost/weak_ptr.hpp
--
-boost/function.hpp
--
-ros/time.h
--
-ros/macros.h
--
-exceptions.h
-/opt/ros/noetic/include/ros/exceptions.h
-ros/datatypes.h
-/opt/ros/noetic/include/ros/ros/datatypes.h
-
-/opt/ros/noetic/include/ros/init.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/spinner.h
-/opt/ros/noetic/include/ros/ros/spinner.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-
-/opt/ros/noetic/include/ros/macros.h
-
-/opt/ros/noetic/include/ros/master.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-xmlrpcpp/XmlRpcValue.h
-/opt/ros/noetic/include/ros/xmlrpcpp/XmlRpcValue.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-
-/opt/ros/noetic/include/ros/message.h
-ros/macros.h
-/opt/ros/noetic/include/ros/ros/macros.h
-ros/assert.h
-/opt/ros/noetic/include/ros/ros/assert.h
-string
--
-string.h
--
-boost/shared_ptr.hpp
--
-boost/array.hpp
--
-stdint.h
--
-
-/opt/ros/noetic/include/ros/message_event.h
-ros/time.h
-/opt/ros/noetic/include/ros/ros/time.h
-ros/datatypes.h
--
-ros/message_traits.h
--
-boost/type_traits/is_void.hpp
--
-boost/type_traits/is_base_of.hpp
--
-boost/type_traits/is_const.hpp
--
-boost/type_traits/add_const.hpp
--
-boost/type_traits/remove_const.hpp
--
-boost/utility/enable_if.hpp
--
-boost/function.hpp
--
-boost/make_shared.hpp
--
-
-/opt/ros/noetic/include/ros/message_forward.h
-cstddef
--
-memory
--
-
-/opt/ros/noetic/include/ros/message_operations.h
-ostream
--
-
-/opt/ros/noetic/include/ros/message_traits.h
-message_forward.h
-/opt/ros/noetic/include/ros/message_forward.h
-ros/time.h
--
-string
--
-boost/utility/enable_if.hpp
--
-boost/type_traits/remove_const.hpp
--
-boost/type_traits/remove_reference.hpp
--
-
-/opt/ros/noetic/include/ros/names.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-
-/opt/ros/noetic/include/ros/node_handle.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/publisher.h
-/opt/ros/noetic/include/ros/ros/publisher.h
-ros/subscriber.h
-/opt/ros/noetic/include/ros/ros/subscriber.h
-ros/service_server.h
-/opt/ros/noetic/include/ros/ros/service_server.h
-ros/service_client.h
-/opt/ros/noetic/include/ros/ros/service_client.h
-ros/timer.h
-/opt/ros/noetic/include/ros/ros/timer.h
-ros/rate.h
-/opt/ros/noetic/include/ros/ros/rate.h
-ros/wall_timer.h
-/opt/ros/noetic/include/ros/ros/wall_timer.h
-ros/steady_timer.h
-/opt/ros/noetic/include/ros/ros/steady_timer.h
-ros/advertise_options.h
-/opt/ros/noetic/include/ros/ros/advertise_options.h
-ros/advertise_service_options.h
-/opt/ros/noetic/include/ros/ros/advertise_service_options.h
-ros/subscribe_options.h
-/opt/ros/noetic/include/ros/ros/subscribe_options.h
-ros/service_client_options.h
-/opt/ros/noetic/include/ros/ros/service_client_options.h
-ros/timer_options.h
-/opt/ros/noetic/include/ros/ros/timer_options.h
-ros/wall_timer_options.h
-/opt/ros/noetic/include/ros/ros/wall_timer_options.h
-ros/spinner.h
-/opt/ros/noetic/include/ros/ros/spinner.h
-ros/init.h
-/opt/ros/noetic/include/ros/ros/init.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-boost/bind/bind.hpp
--
-xmlrpcpp/XmlRpcValue.h
--
-
-/opt/ros/noetic/include/ros/param.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-xmlrpcpp/XmlRpcValue.h
-/opt/ros/noetic/include/ros/xmlrpcpp/XmlRpcValue.h
-vector
--
-map
--
-
-/opt/ros/noetic/include/ros/parameter_adapter.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/message_event.h
-/opt/ros/noetic/include/ros/ros/message_event.h
-ros/static_assert.h
--
-boost/type_traits/add_const.hpp
--
-boost/type_traits/remove_const.hpp
--
-boost/type_traits/remove_reference.hpp
--
-
-/opt/ros/noetic/include/ros/platform.h
-stdlib.h
--
-string
--
-
-/opt/ros/noetic/include/ros/publisher.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/common.h
-/opt/ros/noetic/include/ros/ros/common.h
-ros/message.h
-/opt/ros/noetic/include/ros/ros/message.h
-ros/serialization.h
-/opt/ros/noetic/include/ros/ros/serialization.h
-boost/bind/bind.hpp
--
-boost/thread/mutex.hpp
--
-
-/opt/ros/noetic/include/ros/rate.h
-ros/time.h
-/opt/ros/noetic/include/ros/ros/time.h
-rostime_decl.h
-/opt/ros/noetic/include/ros/rostime_decl.h
-
-/opt/ros/noetic/include/ros/ros.h
-ros/time.h
-/opt/ros/noetic/include/ros/ros/time.h
-ros/rate.h
-/opt/ros/noetic/include/ros/ros/rate.h
-ros/console.h
-/opt/ros/noetic/include/ros/ros/console.h
-ros/assert.h
-/opt/ros/noetic/include/ros/ros/assert.h
-ros/common.h
-/opt/ros/noetic/include/ros/ros/common.h
-ros/types.h
-/opt/ros/noetic/include/ros/ros/types.h
-ros/node_handle.h
-/opt/ros/noetic/include/ros/ros/node_handle.h
-ros/publisher.h
-/opt/ros/noetic/include/ros/ros/publisher.h
-ros/single_subscriber_publisher.h
-/opt/ros/noetic/include/ros/ros/single_subscriber_publisher.h
-ros/service_server.h
-/opt/ros/noetic/include/ros/ros/service_server.h
-ros/subscriber.h
-/opt/ros/noetic/include/ros/ros/subscriber.h
-ros/service.h
-/opt/ros/noetic/include/ros/ros/service.h
-ros/init.h
-/opt/ros/noetic/include/ros/ros/init.h
-ros/master.h
-/opt/ros/noetic/include/ros/ros/master.h
-ros/this_node.h
-/opt/ros/noetic/include/ros/ros/this_node.h
-ros/param.h
-/opt/ros/noetic/include/ros/ros/param.h
-ros/topic.h
-/opt/ros/noetic/include/ros/ros/topic.h
-ros/names.h
-/opt/ros/noetic/include/ros/ros/names.h
-
-/opt/ros/noetic/include/ros/roscpp_serialization_macros.h
-ros/macros.h
--
-
-/opt/ros/noetic/include/ros/rostime_decl.h
-ros/macros.h
--
-
-/opt/ros/noetic/include/ros/serialization.h
-roscpp_serialization_macros.h
-/opt/ros/noetic/include/ros/roscpp_serialization_macros.h
-ros/types.h
--
-ros/time.h
--
-serialized_message.h
-/opt/ros/noetic/include/ros/serialized_message.h
-ros/message_traits.h
-/opt/ros/noetic/include/ros/ros/message_traits.h
-ros/builtin_message_traits.h
-/opt/ros/noetic/include/ros/ros/builtin_message_traits.h
-ros/exception.h
-/opt/ros/noetic/include/ros/ros/exception.h
-ros/datatypes.h
-/opt/ros/noetic/include/ros/ros/datatypes.h
-vector
--
-map
--
-memory
--
-boost/array.hpp
--
-boost/call_traits.hpp
--
-boost/utility/enable_if.hpp
--
-boost/mpl/and.hpp
--
-boost/mpl/or.hpp
--
-boost/mpl/not.hpp
--
-cstring
--
-
-/opt/ros/noetic/include/ros/serialized_message.h
-roscpp_serialization_macros.h
-/opt/ros/noetic/include/ros/roscpp_serialization_macros.h
-boost/shared_array.hpp
--
-boost/shared_ptr.hpp
--
-
-/opt/ros/noetic/include/ros/service.h
-string
--
-ros/common.h
-/opt/ros/noetic/include/ros/ros/common.h
-ros/message.h
-/opt/ros/noetic/include/ros/ros/message.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/node_handle.h
-/opt/ros/noetic/include/ros/ros/node_handle.h
-ros/service_traits.h
-/opt/ros/noetic/include/ros/ros/service_traits.h
-ros/names.h
-/opt/ros/noetic/include/ros/ros/names.h
-boost/shared_ptr.hpp
--
-
-/opt/ros/noetic/include/ros/service_callback_helper.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/common.h
-/opt/ros/noetic/include/ros/ros/common.h
-ros/message.h
-/opt/ros/noetic/include/ros/ros/message.h
-ros/message_traits.h
-/opt/ros/noetic/include/ros/ros/message_traits.h
-ros/service_traits.h
-/opt/ros/noetic/include/ros/ros/service_traits.h
-ros/serialization.h
-/opt/ros/noetic/include/ros/ros/serialization.h
-boost/type_traits/is_base_of.hpp
--
-boost/utility/enable_if.hpp
--
-
-/opt/ros/noetic/include/ros/service_client.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/common.h
-/opt/ros/noetic/include/ros/ros/common.h
-ros/service_traits.h
-/opt/ros/noetic/include/ros/ros/service_traits.h
-ros/serialization.h
-/opt/ros/noetic/include/ros/ros/serialization.h
-
-/opt/ros/noetic/include/ros/service_client_options.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/service_traits.h
-/opt/ros/noetic/include/ros/ros/service_traits.h
-
-/opt/ros/noetic/include/ros/service_server.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-
-/opt/ros/noetic/include/ros/service_traits.h
-boost/type_traits/remove_reference.hpp
--
-boost/type_traits/remove_const.hpp
--
-
-/opt/ros/noetic/include/ros/single_subscriber_publisher.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/serialization.h
-/opt/ros/noetic/include/ros/ros/serialization.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-boost/utility.hpp
--
-
-/opt/ros/noetic/include/ros/spinner.h
-ros/types.h
-/opt/ros/noetic/include/ros/ros/types.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-boost/shared_ptr.hpp
--
-
-/opt/ros/noetic/include/ros/static_assert.h
-boost/static_assert.hpp
--
-
-/opt/ros/noetic/include/ros/steady_timer.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-steady_timer_options.h
-/opt/ros/noetic/include/ros/steady_timer_options.h
-
-/opt/ros/noetic/include/ros/steady_timer_options.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-
-/opt/ros/noetic/include/ros/subscribe_options.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/transport_hints.h
-/opt/ros/noetic/include/ros/ros/transport_hints.h
-ros/message_traits.h
-/opt/ros/noetic/include/ros/ros/message_traits.h
-subscription_callback_helper.h
-/opt/ros/noetic/include/ros/subscription_callback_helper.h
-
-/opt/ros/noetic/include/ros/subscriber.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/subscription_callback_helper.h
-/opt/ros/noetic/include/ros/ros/subscription_callback_helper.h
-
-/opt/ros/noetic/include/ros/subscription_callback_helper.h
-typeinfo
--
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-ros/parameter_adapter.h
-/opt/ros/noetic/include/ros/ros/parameter_adapter.h
-ros/message_traits.h
-/opt/ros/noetic/include/ros/ros/message_traits.h
-ros/builtin_message_traits.h
-/opt/ros/noetic/include/ros/ros/builtin_message_traits.h
-ros/serialization.h
-/opt/ros/noetic/include/ros/ros/serialization.h
-ros/message_event.h
-/opt/ros/noetic/include/ros/ros/message_event.h
-ros/static_assert.h
--
-boost/type_traits/add_const.hpp
--
-boost/type_traits/remove_const.hpp
--
-boost/type_traits/remove_reference.hpp
--
-boost/type_traits/is_base_of.hpp
--
-boost/utility/enable_if.hpp
--
-boost/make_shared.hpp
--
-
-/opt/ros/noetic/include/ros/this_node.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-
-/opt/ros/noetic/include/ros/time.h
-ros/platform.h
--
-iostream
--
-cmath
--
-ros/exception.h
--
-duration.h
-/opt/ros/noetic/include/ros/duration.h
-boost/math/special_functions/round.hpp
--
-rostime_decl.h
-/opt/ros/noetic/include/ros/rostime_decl.h
-sys/timeb.h
--
-sys/time.h
--
-
-/opt/ros/noetic/include/ros/timer.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-timer_options.h
-/opt/ros/noetic/include/ros/timer_options.h
-
-/opt/ros/noetic/include/ros/timer_options.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-
-/opt/ros/noetic/include/ros/topic.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-node_handle.h
-/opt/ros/noetic/include/ros/node_handle.h
-boost/shared_ptr.hpp
--
-
-/opt/ros/noetic/include/ros/transport_hints.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-boost/lexical_cast.hpp
--
-
-/opt/ros/noetic/include/ros/types.h
-stdint.h
--
-
-/opt/ros/noetic/include/ros/wall_timer.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-forwards.h
-/opt/ros/noetic/include/ros/forwards.h
-wall_timer_options.h
-/opt/ros/noetic/include/ros/wall_timer_options.h
-
-/opt/ros/noetic/include/ros/wall_timer_options.h
-common.h
-/opt/ros/noetic/include/ros/common.h
-ros/forwards.h
-/opt/ros/noetic/include/ros/ros/forwards.h
-
-/opt/ros/noetic/include/rosconsole/macros_generated.h
-
-/opt/ros/noetic/include/sensor_msgs/CameraInfo.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-std_msgs/Header.h
--
-sensor_msgs/RegionOfInterest.h
--
-
-/opt/ros/noetic/include/sensor_msgs/CompressedImage.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-std_msgs/Header.h
--
-
-/opt/ros/noetic/include/sensor_msgs/Image.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-std_msgs/Header.h
--
-
-/opt/ros/noetic/include/sensor_msgs/RegionOfInterest.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/sensor_msgs/image_encodings.h
-cstdlib
--
-stdexcept
--
-string
--
-
-/opt/ros/noetic/include/std_msgs/Bool.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/std_msgs/Float32MultiArray.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-std_msgs/MultiArrayLayout.h
--
-
-/opt/ros/noetic/include/std_msgs/Header.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/std_msgs/MultiArrayDimension.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-
-/opt/ros/noetic/include/std_msgs/MultiArrayLayout.h
-string
--
-vector
--
-memory
--
-ros/types.h
--
-ros/serialization.h
--
-ros/builtin_message_traits.h
--
-ros/message_operations.h
--
-std_msgs/MultiArrayDimension.h
--
-
-/opt/ros/noetic/include/xmlrpcpp/XmlRpcDecl.h
-ros/macros.h
--
-
-/opt/ros/noetic/include/xmlrpcpp/XmlRpcValue.h
-xmlrpcpp/XmlRpcDecl.h
-/opt/ros/noetic/include/xmlrpcpp/xmlrpcpp/XmlRpcDecl.h
-map
--
-string
--
-vector
--
-time.h
--
-
-/usr/include/opencv4/opencv2/calib3d.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/features2d.hpp
-/usr/include/opencv4/opencv2/opencv2/features2d.hpp
-opencv2/core/affine.hpp
-/usr/include/opencv4/opencv2/opencv2/core/affine.hpp
-
-/usr/include/opencv4/opencv2/core.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/opencv2/core/cvdef.h
-opencv2/core/version.hpp
-/usr/include/opencv4/opencv2/opencv2/core/version.hpp
-opencv2/core/base.hpp
-/usr/include/opencv4/opencv2/opencv2/core/base.hpp
-opencv2/core/cvstd.hpp
-/usr/include/opencv4/opencv2/opencv2/core/cvstd.hpp
-opencv2/core/traits.hpp
-/usr/include/opencv4/opencv2/opencv2/core/traits.hpp
-opencv2/core/matx.hpp
-/usr/include/opencv4/opencv2/opencv2/core/matx.hpp
-opencv2/core/types.hpp
-/usr/include/opencv4/opencv2/opencv2/core/types.hpp
-opencv2/core/mat.hpp
-/usr/include/opencv4/opencv2/opencv2/core/mat.hpp
-opencv2/core/persistence.hpp
-/usr/include/opencv4/opencv2/opencv2/core/persistence.hpp
-opencv2/core/operations.hpp
-/usr/include/opencv4/opencv2/opencv2/core/operations.hpp
-opencv2/core/cvstd.inl.hpp
-/usr/include/opencv4/opencv2/opencv2/core/cvstd.inl.hpp
-opencv2/core/utility.hpp
-/usr/include/opencv4/opencv2/opencv2/core/utility.hpp
-opencv2/core/optim.hpp
-/usr/include/opencv4/opencv2/opencv2/core/optim.hpp
-opencv2/core/ovx.hpp
-/usr/include/opencv4/opencv2/opencv2/core/ovx.hpp
-
-/usr/include/opencv4/opencv2/core/affine.hpp
-opencv2/core.hpp
--
-
-/usr/include/opencv4/opencv2/core/async.hpp
-opencv2/core/mat.hpp
--
-chrono
--
-
-/usr/include/opencv4/opencv2/core/base.hpp
-opencv2/opencv_modules.hpp
-/usr/include/opencv4/opencv2/core/opencv2/opencv_modules.hpp
-climits
--
-algorithm
--
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/cvstd.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/cvstd.hpp
-opencv2/core/neon_utils.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/neon_utils.hpp
-opencv2/core/vsx_utils.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/vsx_utils.hpp
-opencv2/core/check.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/check.hpp
-
-/usr/include/opencv4/opencv2/core/bufferpool.hpp
-
-/usr/include/opencv4/opencv2/core/check.hpp
-opencv2/core/base.hpp
--
-
-/usr/include/opencv4/opencv2/core/core.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/core/core_c.h
-opencv2/core/types_c.h
-/usr/include/opencv4/opencv2/core/opencv2/core/types_c.h
-cxcore.h
-/usr/include/opencv4/opencv2/core/cxcore.h
-cxcore.h
-/usr/include/opencv4/opencv2/core/cxcore.h
-opencv2/core/utility.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/utility.hpp
-
-/usr/include/opencv4/opencv2/core/cuda.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core.hpp
-opencv2/core/cuda_types.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/cuda_types.hpp
-opencv2/opencv.hpp
--
-opencv2/core/cuda.inl.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/cuda.inl.hpp
-
-/usr/include/opencv4/opencv2/core/cuda.inl.hpp
-opencv2/core/cuda.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/cuda.hpp
-
-/usr/include/opencv4/opencv2/core/cuda_types.hpp
-
-/usr/include/opencv4/opencv2/core/cv_cpu_dispatch.h
-cv_cpu_config.h
-/usr/include/opencv4/opencv2/core/cv_cpu_config.h
-cv_cpu_helper.h
-/usr/include/opencv4/opencv2/core/cv_cpu_helper.h
-emmintrin.h
--
-pmmintrin.h
--
-tmmintrin.h
--
-smmintrin.h
--
-nmmintrin.h
--
-nmmintrin.h
--
-popcntintrin.h
--
-immintrin.h
--
-arm_neon.h
--
-immintrin.h
--
-immintrin.h
--
-immintrin.h
--
-Intrin.h
--
-arm_neon.h
--
-arm_neon.h
--
-arm_neon.h
--
-altivec.h
--
-hal/msa_macros.h
-/usr/include/opencv4/opencv2/core/hal/msa_macros.h
-wasm_simd128.h
--
-emmintrin.h
--
-Intrin.h
--
-arm_neon.h
--
-arm_neon.h
--
-altivec.h
--
-
-/usr/include/opencv4/opencv2/core/cv_cpu_helper.h
-
-/usr/include/opencv4/opencv2/core/cvdef.h
-cvconfig.h
-/usr/include/opencv4/opencv2/core/cvconfig.h
-limits.h
--
-opencv2/core/hal/interface.h
-/usr/include/opencv4/opencv2/core/opencv2/core/hal/interface.h
-cv_cpu_dispatch.h
-/usr/include/opencv4/opencv2/core/cv_cpu_dispatch.h
-intrin.h
--
-array
--
-cstdint
--
-stdint.h
--
-stdint.h
--
-opencv2/core/fast_math.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/fast_math.hpp
-
-/usr/include/opencv4/opencv2/core/cvstd.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-cstddef
--
-cstring
--
-cctype
--
-string
--
-algorithm
--
-utility
--
-cstdlib
--
-cmath
--
-cvstd_wrapper.hpp
-/usr/include/opencv4/opencv2/core/cvstd_wrapper.hpp
-
-/usr/include/opencv4/opencv2/core/cvstd.inl.hpp
-complex
--
-ostream
--
-
-/usr/include/opencv4/opencv2/core/cvstd_wrapper.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-string
--
-memory
--
-type_traits
--
-
-/usr/include/opencv4/opencv2/core/fast_math.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-cmath
--
-fastmath.h
--
-math.h
--
-emmintrin.h
--
-altivec.h
--
-
-/usr/include/opencv4/opencv2/core/hal/interface.h
-cstddef
--
-stddef.h
--
-stdbool.h
--
-cstdint
--
-stdint.h
--
-
-/usr/include/opencv4/opencv2/core/hal/msa_macros.h
-msa.h
-/usr/include/opencv4/opencv2/core/hal/msa.h
-stdint.h
--
-
-/usr/include/opencv4/opencv2/core/mat.hpp
-opencv2/core/matx.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/matx.hpp
-opencv2/core/types.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/types.hpp
-opencv2/core/bufferpool.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/bufferpool.hpp
-type_traits
--
-opencv2/core/mat.inl.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/mat.inl.hpp
-
-/usr/include/opencv4/opencv2/core/mat.inl.hpp
-
-/usr/include/opencv4/opencv2/core/matx.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/base.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/base.hpp
-opencv2/core/traits.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/traits.hpp
-opencv2/core/saturate.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/saturate.hpp
-initializer_list
--
-
-/usr/include/opencv4/opencv2/core/neon_utils.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-
-/usr/include/opencv4/opencv2/core/operations.hpp
-cstdio
--
-
-/usr/include/opencv4/opencv2/core/optim.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/core/ovx.hpp
-cvdef.h
-/usr/include/opencv4/opencv2/core/cvdef.h
-
-/usr/include/opencv4/opencv2/core/persistence.hpp
-opencv2/core/types.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/types.hpp
-opencv2/core/mat.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/mat.hpp
-opencv2/opencv.hpp
-/usr/include/opencv4/opencv2/core/opencv2/opencv.hpp
-time.h
--
-
-/usr/include/opencv4/opencv2/core/saturate.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/fast_math.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/fast_math.hpp
-
-/usr/include/opencv4/opencv2/core/traits.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-
-/usr/include/opencv4/opencv2/core/types.hpp
-climits
--
-cfloat
--
-vector
--
-limits
--
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/cvstd.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/cvstd.hpp
-opencv2/core/matx.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/matx.hpp
-
-/usr/include/opencv4/opencv2/core/types_c.h
-ipl.h
--
-ipl/ipl.h
--
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-assert.h
--
-stdlib.h
--
-string.h
--
-float.h
--
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/core/utility.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core.hpp
-ostream
--
-functional
--
-mutex
--
-opencv2/core/utils/instrumentation.hpp
-/usr/include/opencv4/opencv2/core/opencv2/core/utils/instrumentation.hpp
-
-/usr/include/opencv4/opencv2/core/utils/instrumentation.hpp
-opencv2/core/utility.hpp
--
-opencv2/core/utils/tls.hpp
--
-
-/usr/include/opencv4/opencv2/core/utils/tls.hpp
-opencv2/core/utility.hpp
--
-
-/usr/include/opencv4/opencv2/core/version.hpp
-
-/usr/include/opencv4/opencv2/core/vsx_utils.hpp
-opencv2/core/cvdef.h
-/usr/include/opencv4/opencv2/core/opencv2/core/cvdef.h
-assert.h
--
-
-/usr/include/opencv4/opencv2/dnn.hpp
-opencv2/dnn/dnn.hpp
--
-
-/usr/include/opencv4/opencv2/dnn/dict.hpp
-opencv2/core.hpp
--
-map
--
-ostream
--
-opencv2/dnn/dnn.hpp
--
-
-/usr/include/opencv4/opencv2/dnn/dnn.hpp
-vector
--
-opencv2/core.hpp
--
-opencv2/core/async.hpp
-/usr/include/opencv4/opencv2/dnn/opencv2/core/async.hpp
-../dnn/version.hpp
-/usr/include/opencv4/opencv2/dnn/version.hpp
-opencv2/dnn/dict.hpp
--
-opencv2/dnn/layer.hpp
--
-opencv2/dnn/dnn.inl.hpp
--
-opencv2/dnn/utils/inference_engine.hpp
--
-
-/usr/include/opencv4/opencv2/dnn/dnn.inl.hpp
-opencv2/dnn.hpp
--
-
-/usr/include/opencv4/opencv2/dnn/layer.hpp
-opencv2/dnn.hpp
--
-
-/usr/include/opencv4/opencv2/dnn/utils/inference_engine.hpp
-../dnn.hpp
-/usr/include/opencv4/opencv2/dnn/dnn.hpp
-
-/usr/include/opencv4/opencv2/dnn/version.hpp
-
-/usr/include/opencv4/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
-/usr/include/opencv4/opencv2/opencv2/opencv_modules.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/flann/miniflann.hpp
-/usr/include/opencv4/opencv2/opencv2/flann/miniflann.hpp
-
-/usr/include/opencv4/opencv2/flann.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/flann/miniflann.hpp
-/usr/include/opencv4/opencv2/opencv2/flann/miniflann.hpp
-opencv2/flann/flann_base.hpp
-/usr/include/opencv4/opencv2/opencv2/flann/flann_base.hpp
-
-/usr/include/opencv4/opencv2/flann/all_indices.h
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-kdtree_index.h
-/usr/include/opencv4/opencv2/flann/kdtree_index.h
-kdtree_single_index.h
-/usr/include/opencv4/opencv2/flann/kdtree_single_index.h
-kmeans_index.h
-/usr/include/opencv4/opencv2/flann/kmeans_index.h
-composite_index.h
-/usr/include/opencv4/opencv2/flann/composite_index.h
-linear_index.h
-/usr/include/opencv4/opencv2/flann/linear_index.h
-hierarchical_clustering_index.h
-/usr/include/opencv4/opencv2/flann/hierarchical_clustering_index.h
-lsh_index.h
-/usr/include/opencv4/opencv2/flann/lsh_index.h
-autotuned_index.h
-/usr/include/opencv4/opencv2/flann/autotuned_index.h
-
-/usr/include/opencv4/opencv2/flann/allocator.h
-stdlib.h
--
-stdio.h
--
-
-/usr/include/opencv4/opencv2/flann/any.h
-defines.h
-/usr/include/opencv4/opencv2/flann/defines.h
-stdexcept
--
-ostream
--
-typeinfo
--
-
-/usr/include/opencv4/opencv2/flann/autotuned_index.h
-sstream
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-ground_truth.h
-/usr/include/opencv4/opencv2/flann/ground_truth.h
-index_testing.h
-/usr/include/opencv4/opencv2/flann/index_testing.h
-sampling.h
-/usr/include/opencv4/opencv2/flann/sampling.h
-kdtree_index.h
-/usr/include/opencv4/opencv2/flann/kdtree_index.h
-kdtree_single_index.h
-/usr/include/opencv4/opencv2/flann/kdtree_single_index.h
-kmeans_index.h
-/usr/include/opencv4/opencv2/flann/kmeans_index.h
-composite_index.h
-/usr/include/opencv4/opencv2/flann/composite_index.h
-linear_index.h
-/usr/include/opencv4/opencv2/flann/linear_index.h
-logger.h
-/usr/include/opencv4/opencv2/flann/logger.h
-
-/usr/include/opencv4/opencv2/flann/composite_index.h
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-kdtree_index.h
-/usr/include/opencv4/opencv2/flann/kdtree_index.h
-kmeans_index.h
-/usr/include/opencv4/opencv2/flann/kmeans_index.h
-
-/usr/include/opencv4/opencv2/flann/config.h
-
-/usr/include/opencv4/opencv2/flann/defines.h
-config.h
-/usr/include/opencv4/opencv2/flann/config.h
-
-/usr/include/opencv4/opencv2/flann/dist.h
-cmath
--
-cstdlib
--
-string.h
--
-stdint.h
--
-defines.h
-/usr/include/opencv4/opencv2/flann/defines.h
-Intrin.h
--
-arm_neon.h
-/usr/include/opencv4/opencv2/flann/arm_neon.h
-
-/usr/include/opencv4/opencv2/flann/dynamic_bitset.h
-boost/dynamic_bitset.hpp
--
-limits.h
--
-dist.h
-/usr/include/opencv4/opencv2/flann/dist.h
-
-/usr/include/opencv4/opencv2/flann/flann_base.hpp
-vector
--
-cassert
--
-cstdio
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-params.h
-/usr/include/opencv4/opencv2/flann/params.h
-saving.h
-/usr/include/opencv4/opencv2/flann/saving.h
-all_indices.h
-/usr/include/opencv4/opencv2/flann/all_indices.h
-
-/usr/include/opencv4/opencv2/flann/general.h
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/flann/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/flann/ground_truth.h
-dist.h
-/usr/include/opencv4/opencv2/flann/dist.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-
-/usr/include/opencv4/opencv2/flann/heap.h
-algorithm
--
-vector
--
-
-/usr/include/opencv4/opencv2/flann/hierarchical_clustering_index.h
-algorithm
--
-map
--
-cassert
--
-limits
--
-cmath
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-dist.h
-/usr/include/opencv4/opencv2/flann/dist.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-heap.h
-/usr/include/opencv4/opencv2/flann/heap.h
-allocator.h
-/usr/include/opencv4/opencv2/flann/allocator.h
-random.h
-/usr/include/opencv4/opencv2/flann/random.h
-saving.h
-/usr/include/opencv4/opencv2/flann/saving.h
-
-/usr/include/opencv4/opencv2/flann/index_testing.h
-cstring
--
-cassert
--
-cmath
--
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-logger.h
-/usr/include/opencv4/opencv2/flann/logger.h
-timer.h
-/usr/include/opencv4/opencv2/flann/timer.h
-
-/usr/include/opencv4/opencv2/flann/kdtree_index.h
-algorithm
--
-map
--
-cassert
--
-cstring
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-dynamic_bitset.h
-/usr/include/opencv4/opencv2/flann/dynamic_bitset.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-heap.h
-/usr/include/opencv4/opencv2/flann/heap.h
-allocator.h
-/usr/include/opencv4/opencv2/flann/allocator.h
-random.h
-/usr/include/opencv4/opencv2/flann/random.h
-saving.h
-/usr/include/opencv4/opencv2/flann/saving.h
-
-/usr/include/opencv4/opencv2/flann/kdtree_single_index.h
-algorithm
--
-map
--
-cassert
--
-cstring
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-heap.h
-/usr/include/opencv4/opencv2/flann/heap.h
-allocator.h
-/usr/include/opencv4/opencv2/flann/allocator.h
-random.h
-/usr/include/opencv4/opencv2/flann/random.h
-saving.h
-/usr/include/opencv4/opencv2/flann/saving.h
-
-/usr/include/opencv4/opencv2/flann/kmeans_index.h
-algorithm
--
-map
--
-cassert
--
-limits
--
-cmath
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-dist.h
-/usr/include/opencv4/opencv2/flann/dist.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-heap.h
-/usr/include/opencv4/opencv2/flann/heap.h
-allocator.h
-/usr/include/opencv4/opencv2/flann/allocator.h
-random.h
-/usr/include/opencv4/opencv2/flann/random.h
-saving.h
-/usr/include/opencv4/opencv2/flann/saving.h
-logger.h
-/usr/include/opencv4/opencv2/flann/logger.h
-
-/usr/include/opencv4/opencv2/flann/linear_index.h
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-
-/usr/include/opencv4/opencv2/flann/logger.h
-stdio.h
--
-stdarg.h
--
-defines.h
-/usr/include/opencv4/opencv2/flann/defines.h
-
-/usr/include/opencv4/opencv2/flann/lsh_index.h
-algorithm
--
-cassert
--
-cstring
--
-map
--
-vector
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-heap.h
-/usr/include/opencv4/opencv2/flann/heap.h
-lsh_table.h
-/usr/include/opencv4/opencv2/flann/lsh_table.h
-allocator.h
-/usr/include/opencv4/opencv2/flann/allocator.h
-random.h
-/usr/include/opencv4/opencv2/flann/random.h
-saving.h
-/usr/include/opencv4/opencv2/flann/saving.h
-
-/usr/include/opencv4/opencv2/flann/lsh_table.h
-algorithm
--
-iostream
--
-iomanip
--
-limits.h
--
-unordered_map
--
-map
--
-math.h
--
-stddef.h
--
-dynamic_bitset.h
-/usr/include/opencv4/opencv2/flann/dynamic_bitset.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-
-/usr/include/opencv4/opencv2/flann/matrix.h
-stdio.h
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-
-/usr/include/opencv4/opencv2/flann/miniflann.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/flann/opencv2/core.hpp
-opencv2/flann/defines.h
-/usr/include/opencv4/opencv2/flann/opencv2/flann/defines.h
-
-/usr/include/opencv4/opencv2/flann/nn_index.h
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-result_set.h
-/usr/include/opencv4/opencv2/flann/result_set.h
-params.h
-/usr/include/opencv4/opencv2/flann/params.h
-
-/usr/include/opencv4/opencv2/flann/params.h
-any.h
-/usr/include/opencv4/opencv2/flann/any.h
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-iostream
--
-map
--
-
-/usr/include/opencv4/opencv2/flann/random.h
-algorithm
--
-cstdlib
--
-vector
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-
-/usr/include/opencv4/opencv2/flann/result_set.h
-algorithm
--
-cstring
--
-iostream
--
-limits
--
-set
--
-vector
--
-
-/usr/include/opencv4/opencv2/flann/sampling.h
-matrix.h
-/usr/include/opencv4/opencv2/flann/matrix.h
-random.h
-/usr/include/opencv4/opencv2/flann/random.h
-
-/usr/include/opencv4/opencv2/flann/saving.h
-cstring
--
-vector
--
-general.h
-/usr/include/opencv4/opencv2/flann/general.h
-nn_index.h
-/usr/include/opencv4/opencv2/flann/nn_index.h
-
-/usr/include/opencv4/opencv2/flann/timer.h
-time.h
--
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/flann/opencv2/core.hpp
-opencv2/core/utility.hpp
-/usr/include/opencv4/opencv2/flann/opencv2/core/utility.hpp
-
-/usr/include/opencv4/opencv2/highgui.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/imgcodecs.hpp
-/usr/include/opencv4/opencv2/opencv2/imgcodecs.hpp
-opencv2/videoio.hpp
-/usr/include/opencv4/opencv2/opencv2/videoio.hpp
-
-/usr/include/opencv4/opencv2/imgcodecs.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/imgproc.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/imgproc/imgproc.hpp
-opencv2/imgproc.hpp
-/usr/include/opencv4/opencv2/imgproc/opencv2/imgproc.hpp
-
-/usr/include/opencv4/opencv2/imgproc/types_c.h
-opencv2/core/core_c.h
-/usr/include/opencv4/opencv2/imgproc/opencv2/core/core_c.h
-
-/usr/include/opencv4/opencv2/ml.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-float.h
--
-map
--
-iostream
--
-opencv2/ml/ml.inl.hpp
--
-
-/usr/include/opencv4/opencv2/ml/ml.inl.hpp
-
-/usr/include/opencv4/opencv2/objdetect.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/objdetect/detection_based_tracker.hpp
-/usr/include/opencv4/opencv2/opencv2/objdetect/detection_based_tracker.hpp
-
-/usr/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp
-opencv2/core.hpp
--
-vector
--
-
-/usr/include/opencv4/opencv2/opencv.hpp
-opencv2/opencv_modules.hpp
-/usr/include/opencv4/opencv2/opencv2/opencv_modules.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/calib3d.hpp
-/usr/include/opencv4/opencv2/opencv2/calib3d.hpp
-opencv2/features2d.hpp
-/usr/include/opencv4/opencv2/opencv2/features2d.hpp
-opencv2/dnn.hpp
-/usr/include/opencv4/opencv2/opencv2/dnn.hpp
-opencv2/flann.hpp
-/usr/include/opencv4/opencv2/opencv2/flann.hpp
-opencv2/highgui.hpp
-/usr/include/opencv4/opencv2/opencv2/highgui.hpp
-opencv2/imgcodecs.hpp
-/usr/include/opencv4/opencv2/opencv2/imgcodecs.hpp
-opencv2/imgproc.hpp
-/usr/include/opencv4/opencv2/opencv2/imgproc.hpp
-opencv2/ml.hpp
-/usr/include/opencv4/opencv2/opencv2/ml.hpp
-opencv2/objdetect.hpp
-/usr/include/opencv4/opencv2/opencv2/objdetect.hpp
-opencv2/photo.hpp
-/usr/include/opencv4/opencv2/opencv2/photo.hpp
-opencv2/shape.hpp
-/usr/include/opencv4/opencv2/opencv2/shape.hpp
-opencv2/stitching.hpp
-/usr/include/opencv4/opencv2/opencv2/stitching.hpp
-opencv2/superres.hpp
-/usr/include/opencv4/opencv2/opencv2/superres.hpp
-opencv2/video.hpp
-/usr/include/opencv4/opencv2/opencv2/video.hpp
-opencv2/videoio.hpp
-/usr/include/opencv4/opencv2/opencv2/videoio.hpp
-opencv2/videostab.hpp
-/usr/include/opencv4/opencv2/opencv2/videostab.hpp
-opencv2/viz.hpp
-/usr/include/opencv4/opencv2/opencv2/viz.hpp
-opencv2/cudaarithm.hpp
-/usr/include/opencv4/opencv2/opencv2/cudaarithm.hpp
-opencv2/cudabgsegm.hpp
-/usr/include/opencv4/opencv2/opencv2/cudabgsegm.hpp
-opencv2/cudacodec.hpp
-/usr/include/opencv4/opencv2/opencv2/cudacodec.hpp
-opencv2/cudafeatures2d.hpp
-/usr/include/opencv4/opencv2/opencv2/cudafeatures2d.hpp
-opencv2/cudafilters.hpp
-/usr/include/opencv4/opencv2/opencv2/cudafilters.hpp
-opencv2/cudaimgproc.hpp
-/usr/include/opencv4/opencv2/opencv2/cudaimgproc.hpp
-opencv2/cudaobjdetect.hpp
-/usr/include/opencv4/opencv2/opencv2/cudaobjdetect.hpp
-opencv2/cudaoptflow.hpp
-/usr/include/opencv4/opencv2/opencv2/cudaoptflow.hpp
-opencv2/cudastereo.hpp
-/usr/include/opencv4/opencv2/opencv2/cudastereo.hpp
-opencv2/cudawarping.hpp
-/usr/include/opencv4/opencv2/opencv2/cudawarping.hpp
-
-/usr/include/opencv4/opencv2/opencv_modules.hpp
-
-/usr/include/opencv4/opencv2/photo.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/imgproc.hpp
-/usr/include/opencv4/opencv2/opencv2/imgproc.hpp
-
-/usr/include/opencv4/opencv2/shape.hpp
-opencv2/shape/emdL1.hpp
-/usr/include/opencv4/opencv2/opencv2/shape/emdL1.hpp
-opencv2/shape/shape_transformer.hpp
-/usr/include/opencv4/opencv2/opencv2/shape/shape_transformer.hpp
-opencv2/shape/hist_cost.hpp
-/usr/include/opencv4/opencv2/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_distance.hpp
-/usr/include/opencv4/opencv2/opencv2/shape/shape_distance.hpp
-
-/usr/include/opencv4/opencv2/shape/emdL1.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/core.hpp
-
-/usr/include/opencv4/opencv2/shape/hist_cost.hpp
-opencv2/imgproc.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/imgproc.hpp
-
-/usr/include/opencv4/opencv2/shape/shape_distance.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/core.hpp
-opencv2/shape/hist_cost.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_transformer.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/shape/shape_transformer.hpp
-
-/usr/include/opencv4/opencv2/shape/shape_transformer.hpp
-vector
--
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/core.hpp
-opencv2/imgproc.hpp
-/usr/include/opencv4/opencv2/shape/opencv2/imgproc.hpp
-
-/usr/include/opencv4/opencv2/stitching.hpp
-opencv2/core.hpp
-/usr/include/opencv4/opencv2/opencv2/core.hpp
-opencv2/features2d.hpp
-/usr/include/opencv4/opencv2/opencv2/features2d.hpp
-opencv2/stitching/warpers.hpp
-/usr/include/opencv4/opencv2/opencv2/stitching/warpers.hpp
-opencv2/stitching/detail/matchers.hpp
-/usr/include/opencv4/opencv2/opencv2/stitching/detail/matchers.hpp
-opencv2/stitching/detail/motion_estimators.hpp
-/usr/include/opencv4/opencv2/opencv2/stitching/detail/motion_estimators.hpp
-opencv2/stitching/detail/exposure_compensate.hpp
-/usr/include/opencv4/opencv2/opencv2/stitching/detail/exposure_compensate.hpp
-opencv2/stitching/detail/seam_finders.hpp
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-.PHONY : src/main.cpp.s
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-# Help Target
-help:
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-	@echo "... all (the default if no target is provided)"
-	@echo "... clean"
-	@echo "... depend"
-	@echo "... install/strip"
-	@echo "... install"
-	@echo "... list_install_components"
-	@echo "... dynamic_reconfigure_generate_messages_lisp"
-	@echo "... dynamic_reconfigure_gencfg"
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diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/.rosinstall.kbMFI b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/.rosinstall.kbMFI
deleted file mode 100644
index 202c52a..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/.rosinstall.kbMFI
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/setup.sh
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/_setup_util.py.RAZ0R b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/_setup_util.py.RAZ0R
deleted file mode 100644
index 62ae334..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/_setup_util.py.RAZ0R
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/mc/ZhiTu/flash_detector_ws/devel;/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/env.sh.huCmo b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/env.sh.huCmo
deleted file mode 100644
index 8aa9d24..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/env.sh.huCmo
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.bash.T5Kvu b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.bash.T5Kvu
deleted file mode 100644
index 7da0d97..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.bash.T5Kvu
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.fish.EHspe b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.fish.EHspe
deleted file mode 100644
index 3f4ea37..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.fish.EHspe
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.sh.mPdRU b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.sh.mPdRU
deleted file mode 100644
index 178ea79..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.sh.mPdRU
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.zsh.Au2cY b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.zsh.Au2cY
deleted file mode 100644
index e692acc..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.zsh.Au2cY
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.bash.oMoCi b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.bash.oMoCi
deleted file mode 100644
index ff47af8..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.bash.oMoCi
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.fish.wTxaj b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.fish.wTxaj
deleted file mode 100644
index 1fdcb28..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.fish.wTxaj
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.sh.fBcar b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.sh.fBcar
deleted file mode 100644
index 4d065a0..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.sh.fBcar
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.zsh.u6i0V b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.zsh.u6i0V
deleted file mode 100644
index 9f780b7..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.zsh.u6i0V
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin/catkin_generated/version/package.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin/catkin_generated/version/package.cmake
deleted file mode 100644
index 590a615..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin/catkin_generated/version/package.cmake
+++ /dev/null
@@ -1,24 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "catkin")
-set(catkin_VERSION "0.8.12")
-set(catkin_MAINTAINER "Geoffrey Biggs <geoff@openrobotics.org>, Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>")
-set(catkin_PACKAGE_FORMAT "3")
-set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
-set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
-set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
-set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_TEST_DEPENDS "python-mock" "python-nose" "python3-nose")
-set(catkin_DOC_DEPENDS )
-set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
-set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
-set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
-set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/env_cached.sh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/env_cached.sh
deleted file mode 100644
index d6be91d..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/env_cached.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup_cached.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup_cached.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/generate_cached_setup.py b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/generate_cached_setup.py
deleted file mode 100644
index 7d4edfe..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/generate_cached_setup.py
+++ /dev/null
@@ -1,30 +0,0 @@
-# -*- coding: utf-8 -*-
-from __future__ import print_function
-
-import os
-import stat
-import sys
-
-# find the import for catkin's python package - either from source space or from an installed underlay
-if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
-    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
-try:
-    from catkin.environment_cache import generate_environment_script
-except ImportError:
-    # search for catkin package in all workspaces and prepend to path
-    for workspace in '/home/mc/ZhiTu/flash_detector_ws/devel;/opt/ros/noetic'.split(';'):
-        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
-        if os.path.isdir(os.path.join(python_path, 'catkin')):
-            sys.path.insert(0, python_path)
-            break
-    from catkin.environment_cache import generate_environment_script
-
-code = generate_environment_script('/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/env.sh')
-
-output_filename = '/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/setup_cached.sh'
-with open(output_filename, 'w') as f:
-    # print('Generate script for cached setup "%s"' % output_filename)
-    f.write('\n'.join(code))
-
-mode = os.stat(output_filename).st_mode
-os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/.rosinstall b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/.rosinstall
deleted file mode 100644
index ab3a66e..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/install/setup.sh
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/_setup_util.py b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/_setup_util.py
deleted file mode 100644
index 62ae334..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/_setup_util.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/mc/ZhiTu/flash_detector_ws/devel;/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/env.sh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/env.sh
deleted file mode 100644
index 8aa9d24..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detector.pc b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detector.pc
deleted file mode 100644
index 1cd83d5..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detector.pc
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=/home/mc/ZhiTu/flash_detector_ws/install
-
-Name: flash_detector
-Description: Description of flash_detector
-Version: 0.1.0
-Cflags: -I${prefix}/include -I/usr/include/opencv4
-Libs: -L${prefix}/lib -lflash_detector /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0
-Requires: cv_bridge roscpp sensor_msgs std_msgs dynamic_reconfigure image_transport
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig-version.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig-version.cmake
deleted file mode 100644
index e03eef1..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig-version.cmake.in
-set(PACKAGE_VERSION "0.1.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake
deleted file mode 100644
index e643d96..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake
+++ /dev/null
@@ -1,225 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig.cmake.in
-
-# append elements to a list and remove existing duplicates from the list
-# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
-# self contained
-macro(_list_append_deduplicate listname)
-  if(NOT "${ARGN}" STREQUAL "")
-    if(${listname})
-      list(REMOVE_ITEM ${listname} ${ARGN})
-    endif()
-    list(APPEND ${listname} ${ARGN})
-  endif()
-endmacro()
-
-# append elements to a list if they are not already in the list
-# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
-# self contained
-macro(_list_append_unique listname)
-  foreach(_item ${ARGN})
-    list(FIND ${listname} ${_item} _index)
-    if(_index EQUAL -1)
-      list(APPEND ${listname} ${_item})
-    endif()
-  endforeach()
-endmacro()
-
-# pack a list of libraries with optional build configuration keywords
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_pack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  set(_argn ${ARGN})
-  list(LENGTH _argn _count)
-  set(_index 0)
-  while(${_index} LESS ${_count})
-    list(GET _argn ${_index} lib)
-    if("${lib}" MATCHES "^(debug|optimized|general)$")
-      math(EXPR _index "${_index} + 1")
-      if(${_index} EQUAL ${_count})
-        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
-      endif()
-      list(GET _argn ${_index} library)
-      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
-    else()
-      list(APPEND ${VAR} "${lib}")
-    endif()
-    math(EXPR _index "${_index} + 1")
-  endwhile()
-endmacro()
-
-# unpack a list of libraries with optional build configuration keyword prefixes
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_unpack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  foreach(lib ${ARGN})
-    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
-    list(APPEND ${VAR} "${lib}")
-  endforeach()
-endmacro()
-
-
-if(flash_detector_CONFIG_INCLUDED)
-  return()
-endif()
-set(flash_detector_CONFIG_INCLUDED TRUE)
-
-# set variables for source/devel/install prefixes
-if("FALSE" STREQUAL "TRUE")
-  set(flash_detector_SOURCE_PREFIX /home/mc/ZhiTu/flash_detector_ws/src/flash_detector)
-  set(flash_detector_DEVEL_PREFIX /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector)
-  set(flash_detector_INSTALL_PREFIX "")
-  set(flash_detector_PREFIX ${flash_detector_DEVEL_PREFIX})
-else()
-  set(flash_detector_SOURCE_PREFIX "")
-  set(flash_detector_DEVEL_PREFIX "")
-  set(flash_detector_INSTALL_PREFIX /home/mc/ZhiTu/flash_detector_ws/install)
-  set(flash_detector_PREFIX ${flash_detector_INSTALL_PREFIX})
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'flash_detector' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  message("${_msg}")
-endif()
-
-# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(flash_detector_FOUND_CATKIN_PROJECT TRUE)
-
-if(NOT "include;/usr/include/opencv4 " STREQUAL " ")
-  set(flash_detector_INCLUDE_DIRS "")
-  set(_include_dirs "include;/usr/include/opencv4")
-  if(NOT " " STREQUAL " ")
-    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
-  elseif(NOT "https://github.com/amovlab/Prometheus " STREQUAL " ")
-    set(_report "Check the website 'https://github.com/amovlab/Prometheus' for information and consider reporting the problem.")
-  else()
-    set(_report "Report the problem to the maintainer 'mc <mc@example.com>' and request to fix the problem.")
-  endif()
-  foreach(idir ${_include_dirs})
-    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
-      set(include ${idir})
-    elseif("${idir} " STREQUAL "include ")
-      get_filename_component(include "${flash_detector_DIR}/../../../include" ABSOLUTE)
-      if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'flash_detector' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
-      endif()
-    else()
-      message(FATAL_ERROR "Project 'flash_detector' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
-    endif()
-    _list_append_unique(flash_detector_INCLUDE_DIRS ${include})
-  endforeach()
-endif()
-
-set(libraries "flash_detector;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0")
-foreach(library ${libraries})
-  # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is
-  if("${library}" MATCHES "^(debug|optimized|general)$")
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-l")
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-")
-    # This is a linker flag/option (like -pthread)
-    # There's no standard variable for these, so create an interface library to hold it
-    if(NOT flash_detector_NUM_DUMMY_TARGETS)
-      set(flash_detector_NUM_DUMMY_TARGETS 0)
-    endif()
-    # Make sure the target name is unique
-    set(interface_target_name "catkin::flash_detector::wrapped-linker-option${flash_detector_NUM_DUMMY_TARGETS}")
-    while(TARGET "${interface_target_name}")
-      math(EXPR flash_detector_NUM_DUMMY_TARGETS "${flash_detector_NUM_DUMMY_TARGETS}+1")
-      set(interface_target_name "catkin::flash_detector::wrapped-linker-option${flash_detector_NUM_DUMMY_TARGETS}")
-    endwhile()
-    add_library("${interface_target_name}" INTERFACE IMPORTED)
-    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
-      set_property(
-        TARGET
-        "${interface_target_name}"
-        APPEND PROPERTY
-        INTERFACE_LINK_LIBRARIES "${library}")
-    else()
-      target_link_options("${interface_target_name}" INTERFACE "${library}")
-    endif()
-    list(APPEND flash_detector_LIBRARIES "${interface_target_name}")
-  elseif(${library} MATCHES "^\\$<")
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(TARGET ${library})
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(IS_ABSOLUTE ${library})
-    list(APPEND flash_detector_LIBRARIES ${library})
-  else()
-    set(lib_path "")
-    set(lib "${library}-NOTFOUND")
-    # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/mc/ZhiTu/flash_detector_ws/install/lib;/home/mc/ZhiTu/flash_detector_ws/devel/lib;/opt/ros/noetic/lib)
-      find_library(lib ${library}
-        PATHS ${path}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-      if(lib)
-        set(lib_path ${path})
-        break()
-      endif()
-    endforeach()
-    if(lib)
-      _list_append_unique(flash_detector_LIBRARY_DIRS ${lib_path})
-      list(APPEND flash_detector_LIBRARIES ${lib})
-    else()
-      # as a fall back for non-catkin libraries try to search globally
-      find_library(lib ${library})
-      if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'flash_detector'?  Did you find_package() it before the subdirectory containing its code is included?")
-      endif()
-      list(APPEND flash_detector_LIBRARIES ${lib})
-    endif()
-  endif()
-endforeach()
-
-set(flash_detector_EXPORTED_TARGETS "flash_detector_gencfg")
-# create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${flash_detector_EXPORTED_TARGETS})
-  if(NOT TARGET ${t})
-    add_custom_target(${t})
-  endif()
-endforeach()
-
-set(depends "cv_bridge;roscpp;sensor_msgs;std_msgs;dynamic_reconfigure;image_transport")
-foreach(depend ${depends})
-  string(REPLACE " " ";" depend_list ${depend})
-  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 flash_detector_dep)
-  list(LENGTH depend_list count)
-  if(${count} EQUAL 1)
-    # simple dependencies must only be find_package()-ed once
-    if(NOT ${flash_detector_dep}_FOUND)
-      find_package(${flash_detector_dep} REQUIRED NO_MODULE)
-    endif()
-  else()
-    # dependencies with components must be find_package()-ed again
-    list(REMOVE_AT depend_list 0)
-    find_package(${flash_detector_dep} REQUIRED NO_MODULE ${depend_list})
-  endif()
-  _list_append_unique(flash_detector_INCLUDE_DIRS ${${flash_detector_dep}_INCLUDE_DIRS})
-
-  # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(flash_detector_LIBRARIES ${flash_detector_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${flash_detector_dep}_LIBRARIES})
-  _list_append_deduplicate(flash_detector_LIBRARIES ${_libraries})
-  # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(flash_detector_LIBRARIES ${flash_detector_LIBRARIES})
-
-  _list_append_unique(flash_detector_LIBRARY_DIRS ${${flash_detector_dep}_LIBRARY_DIRS})
-  _list_append_deduplicate(flash_detector_EXPORTED_TARGETS ${${flash_detector_dep}_EXPORTED_TARGETS})
-endforeach()
-
-set(pkg_cfg_extras "")
-foreach(extra ${pkg_cfg_extras})
-  if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${flash_detector_DIR}/${extra})
-  endif()
-  include(${extra})
-endforeach()
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.fish b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.fish
deleted file mode 100644
index 55532ca..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.fish
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/install
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.sh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.sh
deleted file mode 100644
index 8e8dbb4..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/install}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.zsh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.bash b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.fish b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.fish
deleted file mode 100644
index bf962a2..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.fish
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/install
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.sh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.sh
deleted file mode 100644
index 011442c..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/install}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.zsh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/ordered_paths.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/ordered_paths.cmake
deleted file mode 100644
index 454cf03..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/ordered_paths.cmake
+++ /dev/null
@@ -1 +0,0 @@
-set(ORDERED_PATHS "/opt/ros/noetic/lib")
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/package.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/package.cmake
deleted file mode 100644
index ed2748e..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/package.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "flash_detector")
-set(flash_detector_VERSION "0.1.0")
-set(flash_detector_MAINTAINER "mc <mc@example.com>")
-set(flash_detector_PACKAGE_FORMAT "2")
-set(flash_detector_BUILD_DEPENDS "cv_bridge" "roscpp" "sensor_msgs" "std_msgs" "dynamic_reconfigure" "image_transport")
-set(flash_detector_BUILD_EXPORT_DEPENDS )
-set(flash_detector_BUILDTOOL_DEPENDS "catkin")
-set(flash_detector_BUILDTOOL_EXPORT_DEPENDS )
-set(flash_detector_EXEC_DEPENDS "cv_bridge" "roscpp" "sensor_msgs" "std_msgs" "dynamic_reconfigure" "image_transport")
-set(flash_detector_RUN_DEPENDS "cv_bridge" "roscpp" "sensor_msgs" "std_msgs" "dynamic_reconfigure" "image_transport")
-set(flash_detector_TEST_DEPENDS )
-set(flash_detector_DOC_DEPENDS )
-set(flash_detector_URL_WEBSITE "https://github.com/amovlab/Prometheus")
-set(flash_detector_URL_BUGTRACKER "")
-set(flash_detector_URL_REPOSITORY "")
-set(flash_detector_DEPRECATED "")
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.develspace.context.pc.py b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.develspace.context.pc.py
deleted file mode 100644
index 6287c5a..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.develspace.context.pc.py
+++ /dev/null
@@ -1,8 +0,0 @@
-# generated from catkin/cmake/template/pkg.context.pc.in
-CATKIN_PACKAGE_PREFIX = ""
-PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include;/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/include;/usr/include/opencv4".split(';') if "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include;/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/include;/usr/include/opencv4" != "" else []
-PROJECT_CATKIN_DEPENDS = "cv_bridge;roscpp;sensor_msgs;std_msgs;dynamic_reconfigure;image_transport".replace(';', ' ')
-PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lflash_detector;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0".split(';') if "-lflash_detector;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0" != "" else []
-PROJECT_NAME = "flash_detector"
-PROJECT_SPACE_DIR = "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector"
-PROJECT_VERSION = "0.1.0"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.installspace.context.pc.py b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.installspace.context.pc.py
deleted file mode 100644
index 3d49cfd..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.installspace.context.pc.py
+++ /dev/null
@@ -1,8 +0,0 @@
-# generated from catkin/cmake/template/pkg.context.pc.in
-CATKIN_PACKAGE_PREFIX = ""
-PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include;/usr/include/opencv4".split(';') if "${prefix}/include;/usr/include/opencv4" != "" else []
-PROJECT_CATKIN_DEPENDS = "cv_bridge;roscpp;sensor_msgs;std_msgs;dynamic_reconfigure;image_transport".replace(';', ' ')
-PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lflash_detector;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0".split(';') if "-lflash_detector;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0" != "" else []
-PROJECT_NAME = "flash_detector"
-PROJECT_SPACE_DIR = "/home/mc/ZhiTu/flash_detector_ws/install"
-PROJECT_VERSION = "0.1.0"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/setup_cached.sh b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/setup_cached.sh
deleted file mode 100644
index c059a9f..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/setup_cached.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/python/catkin/environment_cache.py
-
-# based on a snapshot of the environment before and after calling the setup script
-# it emulates the modifications of the setup script without recurring computations
-
-# new environment variables
-
-# modified environment variables
-export CMAKE_PREFIX_PATH="/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector:$CMAKE_PREFIX_PATH"
-export PWD='/home/mc/ZhiTu/flash_detector_ws/build/flash_detector'
-export ROSLISP_PACKAGE_DIRECTORIES="/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
-export ROS_PACKAGE_PATH="/home/mc/ZhiTu/flash_detector_ws/src/flash_detector:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/_setup_util.py.stamp b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/_setup_util.py.stamp
deleted file mode 100644
index 62ae334..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/_setup_util.py.stamp
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/mc/ZhiTu/flash_detector_ws/devel;/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/interrogate_setup_dot_py.py.stamp b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/interrogate_setup_dot_py.py.stamp
deleted file mode 100644
index 5e25fbf..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/interrogate_setup_dot_py.py.stamp
+++ /dev/null
@@ -1,255 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-from __future__ import print_function
-
-import os
-import runpy
-import sys
-from argparse import ArgumentParser
-
-setup_modules = []
-
-try:
-    import distutils.core
-    setup_modules.append(distutils.core)
-except ImportError:
-    pass
-
-try:
-    import setuptools
-    setup_modules.append(setuptools)
-except ImportError:
-    pass
-
-assert setup_modules, 'Must have distutils or setuptools installed'
-
-
-def _get_locations(pkgs, package_dir):
-    """
-    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
-
-    See http://docs.python.org/distutils/setupscript.html
-
-    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
-    """
-    # package_dir contains a dict {package_name: relativepath}
-    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
-    #
-    # '' means where to look for any package unless a parent package
-    # is listed so package bar.pot is expected at lib2/bar/pot,
-    # whereas package sup.dee is expected at src/sup/dee
-    #
-    # if package_dir does not state anything about a package,
-    # setuptool expects the package folder to be in the root of the
-    # project
-    locations = {}
-    allprefix = package_dir.get('', '')
-    for pkg in pkgs:
-        parent_location = None
-        splits = pkg.split('.')
-        # we iterate over compound name from parent to child
-        # so once we found parent, children just append to their parent
-        for key_len in range(len(splits)):
-            key = '.'.join(splits[:key_len + 1])
-            if key not in locations:
-                if key in package_dir:
-                    locations[key] = package_dir[key]
-                elif parent_location is not None:
-                    locations[key] = os.path.join(parent_location, splits[key_len])
-                else:
-                    locations[key] = os.path.join(allprefix, key)
-            parent_location = locations[key]
-    return locations
-
-
-def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
-    """
-    Generate lines to add to a cmake file which will set variables.
-
-    :param version: str, format 'int.int.int'
-    :param scripts: [list of str]: relative paths to scripts
-    :param package_dir: {modulename: path}
-    :param pkgs: [list of str] python_packages declared in catkin package
-    :param modules: [list of str] python modules
-    :param setup_module: str, setuptools or distutils
-    """
-    prefix = '%s_SETUP_PY' % package_name
-    result = []
-    if setup_module:
-        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
-    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
-    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
-
-    # Remove packages with '.' separators.
-    #
-    # setuptools allows specifying submodules in other folders than
-    # their parent
-    #
-    # The symlink approach of catkin does not work with such submodules.
-    # In the common case, this does not matter as the submodule is
-    # within the containing module.  We verify this assumption, and if
-    # it passes, we remove submodule packages.
-    locations = _get_locations(pkgs, package_dir)
-    for pkgname, location in locations.items():
-        if '.' not in pkgname:
-            continue
-        splits = pkgname.split('.')
-        # hack: ignore write-combining setup.py files for msg and srv files
-        if splits[1] in ['msg', 'srv']:
-            continue
-        # check every child has the same root folder as its parent
-        root_name = splits[0]
-        root_location = location
-        for _ in range(len(splits) - 1):
-            root_location = os.path.dirname(root_location)
-        if root_location != locations[root_name]:
-            raise RuntimeError(
-                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
-
-    # If checks pass, remove all submodules
-    pkgs = [p for p in pkgs if '.' not in p]
-
-    resolved_pkgs = []
-    for pkg in pkgs:
-        resolved_pkgs += [locations[pkg]]
-
-    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
-    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
-
-    # skip modules which collide with package names
-    filtered_modules = []
-    for modname in modules:
-        splits = modname.split('.')
-        # check all parents too
-        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
-        if any(equals_package):
-            continue
-        filtered_modules.append(modname)
-    module_locations = _get_locations(filtered_modules, package_dir)
-
-    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
-    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
-
-    return result
-
-
-def _create_mock_setup_function(setup_module, package_name, outfile):
-    """
-    Create a function to call instead of distutils.core.setup or setuptools.setup.
-
-    It just captures some args and writes them into a file that can be used from cmake.
-
-    :param package_name: name of the package
-    :param outfile: filename that cmake will use afterwards
-    :returns: a function to replace disutils.core.setup and setuptools.setup
-    """
-
-    def setup(*args, **kwargs):
-        """Check kwargs and write a scriptfile."""
-        if 'version' not in kwargs:
-            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
-            raise RuntimeError('version not found in setup.py')
-        version = kwargs['version']
-        package_dir = kwargs.get('package_dir', {})
-
-        pkgs = kwargs.get('packages', [])
-        scripts = kwargs.get('scripts', [])
-        modules = kwargs.get('py_modules', [])
-
-        unsupported_args = [
-            'entry_points',
-            'exclude_package_data',
-            'ext_modules ',
-            'ext_package',
-            'include_package_data',
-            'namespace_packages',
-            'setup_requires',
-            'use_2to3',
-            'zip_safe']
-        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
-        if used_unsupported_args:
-            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
-
-        result = generate_cmake_file(package_name=package_name,
-                                     version=version,
-                                     scripts=scripts,
-                                     package_dir=package_dir,
-                                     pkgs=pkgs,
-                                     modules=modules,
-                                     setup_module=setup_module)
-        with open(outfile, 'w') as out:
-            out.write('\n'.join(result))
-
-    return setup
-
-
-def main():
-    """Script main, parses arguments and invokes Dummy.setup indirectly."""
-    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
-    parser.add_argument('package_name', help='Name of catkin package')
-    parser.add_argument('setupfile_path', help='Full path to setup.py')
-    parser.add_argument('outfile', help='Where to write result to')
-
-    args = parser.parse_args()
-
-    # print("%s" % sys.argv)
-    # PACKAGE_NAME = sys.argv[1]
-    # OUTFILE = sys.argv[3]
-    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
-    #      file=sys.stderr)
-
-    # print("executing %s" % args.setupfile_path)
-
-    # be sure you're in the directory containing
-    # setup.py so the sys.path manipulation works,
-    # so the import of __version__ works
-    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
-
-    # patch setup() function of distutils and setuptools for the
-    # context of evaluating setup.py
-    backup_modules = {}
-    try:
-
-        for module in setup_modules:
-            backup_modules[id(module)] = module.setup
-            module.setup = _create_mock_setup_function(
-                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
-
-        runpy.run_path(args.setupfile_path)
-    finally:
-        for module in setup_modules:
-            module.setup = backup_modules[id(module)]
-
-
-if __name__ == '__main__':
-    main()
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/package.xml.stamp b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/package.xml.stamp
deleted file mode 100644
index df71e52..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/package.xml.stamp
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>flash_detector</name>
-  <version>0.1.0</version>
-  <description>Flash Detection Module for UAV - Detects muzzle flash using HSV thresholding</description>
-
-  <!-- One maintainer tag required -->
-  <maintainer email="mc@example.com">mc</maintainer>
-
-  <!-- One license tag required -->
-  <license>MIT</license>
-
-  <!-- Url tags are optional -->
-  <url type="website">https://github.com/amovlab/Prometheus</url>
-
-  <!-- Author tags are optional -->
-  <author email="mc@example.com">mc</author>
-
-  <!-- Build tool dependencies -->
-  <buildtool_depend>catkin</buildtool_depend>
-  
-  <!-- ROS dependencies -->
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>image_transport</build_depend>
-  
-  <exec_depend>cv_bridge</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>dynamic_reconfigure</exec_depend>
-  <exec_depend>image_transport</exec_depend>
-
-  <!-- Export tag -->
-  <export>
-  </export>
-</package>
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/pkg.pc.em.stamp b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/pkg.pc.em.stamp
deleted file mode 100644
index 549fb75..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/pkg.pc.em.stamp
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=@PROJECT_SPACE_DIR
-
-Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
-Description: Description of @PROJECT_NAME
-Version: @PROJECT_VERSION
-Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
-Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
-Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/cmake_install.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/cmake_install.cmake
deleted file mode 100644
index bc67874..0000000
--- a/src/闪光检测/flash_detector_ws/build/flash_detector/cmake_install.cmake
+++ /dev/null
@@ -1,219 +0,0 @@
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-
-# Set the install prefix
-if(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  set(CMAKE_INSTALL_PREFIX "/home/mc/ZhiTu/flash_detector_ws/install")
-endif()
-string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
-
-# Set the install configuration name.
-if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
-  if(BUILD_TYPE)
-    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
-           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
-  else()
-    set(CMAKE_INSTALL_CONFIG_NAME "")
-  endif()
-  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
-endif()
-
-# Set the component getting installed.
-if(NOT CMAKE_INSTALL_COMPONENT)
-  if(COMPONENT)
-    message(STATUS "Install component: \"${COMPONENT}\"")
-    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
-  else()
-    set(CMAKE_INSTALL_COMPONENT)
-  endif()
-endif()
-
-# Install shared libraries without execute permission?
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-  set(CMAKE_INSTALL_SO_NO_EXE "1")
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-
-# Is this installation the result of a crosscompile?
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-  set(CMAKE_CROSSCOMPILING "FALSE")
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-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  
-      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
-        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
-      endif()
-      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
-        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
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-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/_setup_util.py")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE PROGRAM FILES "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/_setup_util.py")
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-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/env.sh")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
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-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE PROGRAM FILES "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/env.sh")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.bash;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.bash")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
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-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.bash"
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.sh;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.sh")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
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-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.sh"
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.sh"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.zsh;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.zsh")
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-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.zsh"
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.zsh"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/setup.fish;/home/mc/ZhiTu/flash_detector_ws/install/local_setup.fish")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.fish"
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.fish"
-    )
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
-   "/home/mc/ZhiTu/flash_detector_ws/install/.rosinstall")
-  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
-    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
-  endif()
-file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/.rosinstall")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/flash_detector" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include/flash_detector/FlashDetectorConfig.h")
-endif()
-
-if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages/flash_detector" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/__init__.py")
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-
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-endif()
-
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-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages/flash_detector" TYPE DIRECTORY FILES "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg")
-endif()
-
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-endif()
-
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-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/flash_detector/cmake" TYPE FILE FILES
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake"
-    "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig-version.cmake"
-    )
-endif()
-
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-endif()
-
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-  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node" AND
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-    file(RPATH_CHECK
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-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/flash_detector" TYPE EXECUTABLE FILES "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/flash_detector/flash_detector_node")
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-         OLD_RPATH "/opt/ros/noetic/lib:"
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-    if(CMAKE_INSTALL_DO_STRIP)
-      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node")
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-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/flash_detector" TYPE DIRECTORY FILES
-    "/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/launch"
-    "/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/config"
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-
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-  # Include the install script for each subdirectory.
-  include("/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/gtest/cmake_install.cmake")
-
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-
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-  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
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-  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
-endif()
-
-string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
-       "${CMAKE_INSTALL_MANIFEST_FILES}")
-file(WRITE "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/${CMAKE_INSTALL_MANIFEST}"
-     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
deleted file mode 100644
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-
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deleted file mode 100644
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diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/Makefile b/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/Makefile
deleted file mode 100644
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-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh
deleted file mode 100644
index 8aa9d24..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc
deleted file mode 100644
index 57da1dc..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-
-Name: catkin_tools_prebuild
-Description: Description of catkin_tools_prebuild
-Version: 0.0.0
-Cflags: 
-Libs: -L${prefix}/lib 
-Requires: 
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.bash b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.fish b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.fish
deleted file mode 100644
index 5cddcfa..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.fish
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.sh b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.sh
deleted file mode 100644
index a88f397..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.zsh b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.bash b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.fish b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.fish
deleted file mode 100644
index ef257e5..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.fish
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh
deleted file mode 100644
index 232bec8..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.zsh b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake
deleted file mode 100644
index 7fd9f99..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig-version.cmake.in
-set(PACKAGE_VERSION "0.0.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake
deleted file mode 100644
index 38d9c6b..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake
+++ /dev/null
@@ -1,225 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig.cmake.in
-
-# append elements to a list and remove existing duplicates from the list
-# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
-# self contained
-macro(_list_append_deduplicate listname)
-  if(NOT "${ARGN}" STREQUAL "")
-    if(${listname})
-      list(REMOVE_ITEM ${listname} ${ARGN})
-    endif()
-    list(APPEND ${listname} ${ARGN})
-  endif()
-endmacro()
-
-# append elements to a list if they are not already in the list
-# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
-# self contained
-macro(_list_append_unique listname)
-  foreach(_item ${ARGN})
-    list(FIND ${listname} ${_item} _index)
-    if(_index EQUAL -1)
-      list(APPEND ${listname} ${_item})
-    endif()
-  endforeach()
-endmacro()
-
-# pack a list of libraries with optional build configuration keywords
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_pack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  set(_argn ${ARGN})
-  list(LENGTH _argn _count)
-  set(_index 0)
-  while(${_index} LESS ${_count})
-    list(GET _argn ${_index} lib)
-    if("${lib}" MATCHES "^(debug|optimized|general)$")
-      math(EXPR _index "${_index} + 1")
-      if(${_index} EQUAL ${_count})
-        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
-      endif()
-      list(GET _argn ${_index} library)
-      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
-    else()
-      list(APPEND ${VAR} "${lib}")
-    endif()
-    math(EXPR _index "${_index} + 1")
-  endwhile()
-endmacro()
-
-# unpack a list of libraries with optional build configuration keyword prefixes
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_unpack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  foreach(lib ${ARGN})
-    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
-    list(APPEND ${VAR} "${lib}")
-  endforeach()
-endmacro()
-
-
-if(catkin_tools_prebuild_CONFIG_INCLUDED)
-  return()
-endif()
-set(catkin_tools_prebuild_CONFIG_INCLUDED TRUE)
-
-# set variables for source/devel/install prefixes
-if("TRUE" STREQUAL "TRUE")
-  set(catkin_tools_prebuild_SOURCE_PREFIX /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild)
-  set(catkin_tools_prebuild_DEVEL_PREFIX /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild)
-  set(catkin_tools_prebuild_INSTALL_PREFIX "")
-  set(catkin_tools_prebuild_PREFIX ${catkin_tools_prebuild_DEVEL_PREFIX})
-else()
-  set(catkin_tools_prebuild_SOURCE_PREFIX "")
-  set(catkin_tools_prebuild_DEVEL_PREFIX "")
-  set(catkin_tools_prebuild_INSTALL_PREFIX /home/mc/ZhiTu/flash_detector_ws/install)
-  set(catkin_tools_prebuild_PREFIX ${catkin_tools_prebuild_INSTALL_PREFIX})
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'catkin_tools_prebuild' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  message("${_msg}")
-endif()
-
-# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(catkin_tools_prebuild_FOUND_CATKIN_PROJECT TRUE)
-
-if(NOT " " STREQUAL " ")
-  set(catkin_tools_prebuild_INCLUDE_DIRS "")
-  set(_include_dirs "")
-  if(NOT " " STREQUAL " ")
-    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
-  elseif(NOT " " STREQUAL " ")
-    set(_report "Check the website '' for information and consider reporting the problem.")
-  else()
-    set(_report "Report the problem to the maintainer 'jbohren <jbo@jhu.edu>' and request to fix the problem.")
-  endif()
-  foreach(idir ${_include_dirs})
-    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
-      set(include ${idir})
-    elseif("${idir} " STREQUAL "include ")
-      get_filename_component(include "${catkin_tools_prebuild_DIR}/../../../include" ABSOLUTE)
-      if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'catkin_tools_prebuild' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
-      endif()
-    else()
-      message(FATAL_ERROR "Project 'catkin_tools_prebuild' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/${idir}'.  ${_report}")
-    endif()
-    _list_append_unique(catkin_tools_prebuild_INCLUDE_DIRS ${include})
-  endforeach()
-endif()
-
-set(libraries "")
-foreach(library ${libraries})
-  # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is
-  if("${library}" MATCHES "^(debug|optimized|general)$")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-l")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-")
-    # This is a linker flag/option (like -pthread)
-    # There's no standard variable for these, so create an interface library to hold it
-    if(NOT catkin_tools_prebuild_NUM_DUMMY_TARGETS)
-      set(catkin_tools_prebuild_NUM_DUMMY_TARGETS 0)
-    endif()
-    # Make sure the target name is unique
-    set(interface_target_name "catkin::catkin_tools_prebuild::wrapped-linker-option${catkin_tools_prebuild_NUM_DUMMY_TARGETS}")
-    while(TARGET "${interface_target_name}")
-      math(EXPR catkin_tools_prebuild_NUM_DUMMY_TARGETS "${catkin_tools_prebuild_NUM_DUMMY_TARGETS}+1")
-      set(interface_target_name "catkin::catkin_tools_prebuild::wrapped-linker-option${catkin_tools_prebuild_NUM_DUMMY_TARGETS}")
-    endwhile()
-    add_library("${interface_target_name}" INTERFACE IMPORTED)
-    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
-      set_property(
-        TARGET
-        "${interface_target_name}"
-        APPEND PROPERTY
-        INTERFACE_LINK_LIBRARIES "${library}")
-    else()
-      target_link_options("${interface_target_name}" INTERFACE "${library}")
-    endif()
-    list(APPEND catkin_tools_prebuild_LIBRARIES "${interface_target_name}")
-  elseif(${library} MATCHES "^\\$<")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(TARGET ${library})
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(IS_ABSOLUTE ${library})
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  else()
-    set(lib_path "")
-    set(lib "${library}-NOTFOUND")
-    # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib;/opt/ros/noetic/lib)
-      find_library(lib ${library}
-        PATHS ${path}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-      if(lib)
-        set(lib_path ${path})
-        break()
-      endif()
-    endforeach()
-    if(lib)
-      _list_append_unique(catkin_tools_prebuild_LIBRARY_DIRS ${lib_path})
-      list(APPEND catkin_tools_prebuild_LIBRARIES ${lib})
-    else()
-      # as a fall back for non-catkin libraries try to search globally
-      find_library(lib ${library})
-      if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'catkin_tools_prebuild'?  Did you find_package() it before the subdirectory containing its code is included?")
-      endif()
-      list(APPEND catkin_tools_prebuild_LIBRARIES ${lib})
-    endif()
-  endif()
-endforeach()
-
-set(catkin_tools_prebuild_EXPORTED_TARGETS "")
-# create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${catkin_tools_prebuild_EXPORTED_TARGETS})
-  if(NOT TARGET ${t})
-    add_custom_target(${t})
-  endif()
-endforeach()
-
-set(depends "")
-foreach(depend ${depends})
-  string(REPLACE " " ";" depend_list ${depend})
-  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 catkin_tools_prebuild_dep)
-  list(LENGTH depend_list count)
-  if(${count} EQUAL 1)
-    # simple dependencies must only be find_package()-ed once
-    if(NOT ${catkin_tools_prebuild_dep}_FOUND)
-      find_package(${catkin_tools_prebuild_dep} REQUIRED NO_MODULE)
-    endif()
-  else()
-    # dependencies with components must be find_package()-ed again
-    list(REMOVE_AT depend_list 0)
-    find_package(${catkin_tools_prebuild_dep} REQUIRED NO_MODULE ${depend_list})
-  endif()
-  _list_append_unique(catkin_tools_prebuild_INCLUDE_DIRS ${${catkin_tools_prebuild_dep}_INCLUDE_DIRS})
-
-  # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(catkin_tools_prebuild_LIBRARIES ${catkin_tools_prebuild_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${catkin_tools_prebuild_dep}_LIBRARIES})
-  _list_append_deduplicate(catkin_tools_prebuild_LIBRARIES ${_libraries})
-  # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(catkin_tools_prebuild_LIBRARIES ${catkin_tools_prebuild_LIBRARIES})
-
-  _list_append_unique(catkin_tools_prebuild_LIBRARY_DIRS ${${catkin_tools_prebuild_dep}_LIBRARY_DIRS})
-  _list_append_deduplicate(catkin_tools_prebuild_EXPORTED_TARGETS ${${catkin_tools_prebuild_dep}_EXPORTED_TARGETS})
-endforeach()
-
-set(pkg_cfg_extras "")
-foreach(extra ${pkg_cfg_extras})
-  if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${catkin_tools_prebuild_DIR}/${extra})
-  endif()
-  include(${extra})
-endforeach()
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.catkin b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.catkin
deleted file mode 100644
index 4828ab0..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.catkin
+++ /dev/null
@@ -1 +0,0 @@
-/home/mc/ZhiTu/flash_detector_ws/src/flash_detector
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.rosinstall b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.rosinstall
deleted file mode 100644
index 202c52a..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.rosinstall
+++ /dev/null
@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/setup.sh
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/_setup_util.py b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/_setup_util.py
deleted file mode 100644
index 62ae334..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/_setup_util.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/home/mc/ZhiTu/flash_detector_ws/devel;/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/env.sh b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/env.sh
deleted file mode 100644
index 8aa9d24..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/env.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/include/flash_detector/FlashDetectorConfig.h b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/include/flash_detector/FlashDetectorConfig.h
deleted file mode 100644
index 197c201..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/include/flash_detector/FlashDetectorConfig.h
+++ /dev/null
@@ -1,588 +0,0 @@
-//#line 2 "/opt/ros/noetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
-// *********************************************************
-//
-// File autogenerated for the flash_detector package
-// by the dynamic_reconfigure package.
-// Please do not edit.
-//
-// ********************************************************/
-
-#ifndef __flash_detector__FLASHDETECTORCONFIG_H__
-#define __flash_detector__FLASHDETECTORCONFIG_H__
-
-#if __cplusplus >= 201103L
-#define DYNAMIC_RECONFIGURE_FINAL final
-#else
-#define DYNAMIC_RECONFIGURE_FINAL
-#endif
-
-#include <dynamic_reconfigure/config_tools.h>
-#include <limits>
-#include <ros/node_handle.h>
-#include <dynamic_reconfigure/ConfigDescription.h>
-#include <dynamic_reconfigure/ParamDescription.h>
-#include <dynamic_reconfigure/Group.h>
-#include <dynamic_reconfigure/config_init_mutex.h>
-#include <boost/any.hpp>
-
-namespace flash_detector
-{
-  class FlashDetectorConfigStatics;
-
-  class FlashDetectorConfig
-  {
-  public:
-    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
-    {
-    public:
-      AbstractParamDescription(std::string n, std::string t, uint32_t l,
-          std::string d, std::string e)
-      {
-        name = n;
-        type = t;
-        level = l;
-        description = d;
-        edit_method = e;
-      }
-      virtual ~AbstractParamDescription() = default;
-
-      virtual void clamp(FlashDetectorConfig &config, const FlashDetectorConfig &max, const FlashDetectorConfig &min) const = 0;
-      virtual void calcLevel(uint32_t &level, const FlashDetectorConfig &config1, const FlashDetectorConfig &config2) const = 0;
-      virtual void fromServer(const ros::NodeHandle &nh, FlashDetectorConfig &config) const = 0;
-      virtual void toServer(const ros::NodeHandle &nh, const FlashDetectorConfig &config) const = 0;
-      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, FlashDetectorConfig &config) const = 0;
-      virtual void toMessage(dynamic_reconfigure::Config &msg, const FlashDetectorConfig &config) const = 0;
-      virtual void getValue(const FlashDetectorConfig &config, boost::any &val) const = 0;
-    };
-
-    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
-    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
-
-    // Final keyword added to class because it has virtual methods and inherits
-    // from a class with a non-virtual destructor.
-    template <class T>
-    class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
-    {
-    public:
-      ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
-          std::string a_description, std::string a_edit_method, T FlashDetectorConfig::* a_f) :
-        AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
-        field(a_f)
-      {}
-
-      T FlashDetectorConfig::* field;
-
-      virtual void clamp(FlashDetectorConfig &config, const FlashDetectorConfig &max, const FlashDetectorConfig &min) const override
-      {
-        if (config.*field > max.*field)
-          config.*field = max.*field;
-
-        if (config.*field < min.*field)
-          config.*field = min.*field;
-      }
-
-      virtual void calcLevel(uint32_t &comb_level, const FlashDetectorConfig &config1, const FlashDetectorConfig &config2) const override
-      {
-        if (config1.*field != config2.*field)
-          comb_level |= level;
-      }
-
-      virtual void fromServer(const ros::NodeHandle &nh, FlashDetectorConfig &config) const override
-      {
-        nh.getParam(name, config.*field);
-      }
-
-      virtual void toServer(const ros::NodeHandle &nh, const FlashDetectorConfig &config) const override
-      {
-        nh.setParam(name, config.*field);
-      }
-
-      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, FlashDetectorConfig &config) const override
-      {
-        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
-      }
-
-      virtual void toMessage(dynamic_reconfigure::Config &msg, const FlashDetectorConfig &config) const override
-      {
-        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
-      }
-
-      virtual void getValue(const FlashDetectorConfig &config, boost::any &val) const override
-      {
-        val = config.*field;
-      }
-    };
-
-    class AbstractGroupDescription : public dynamic_reconfigure::Group
-    {
-      public:
-      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
-      {
-        name = n;
-        type = t;
-        parent = p;
-        state = s;
-        id = i;
-      }
-
-      virtual ~AbstractGroupDescription() = default;
-
-      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
-      bool state;
-
-      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
-      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
-      virtual void updateParams(boost::any &cfg, FlashDetectorConfig &top) const= 0;
-      virtual void setInitialState(boost::any &cfg) const = 0;
-
-
-      void convertParams()
-      {
-        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
-        {
-          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
-        }
-      }
-    };
-
-    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
-    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
-
-    // Final keyword added to class because it has virtual methods and inherits
-    // from a class with a non-virtual destructor.
-    template<class T, class PT>
-    class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
-    {
-    public:
-      GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
-      {
-      }
-
-      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
-      {
-        parameters = g.parameters;
-        abstract_parameters = g.abstract_parameters;
-      }
-
-      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const override
-      {
-        PT* config = boost::any_cast<PT*>(cfg);
-        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
-          return false;
-
-        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
-        {
-          boost::any n = &((*config).*field);
-          if(!(*i)->fromMessage(msg, n))
-            return false;
-        }
-
-        return true;
-      }
-
-      virtual void setInitialState(boost::any &cfg) const override
-      {
-        PT* config = boost::any_cast<PT*>(cfg);
-        T* group = &((*config).*field);
-        group->state = state;
-
-        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
-        {
-          boost::any n = boost::any(&((*config).*field));
-          (*i)->setInitialState(n);
-        }
-
-      }
-
-      virtual void updateParams(boost::any &cfg, FlashDetectorConfig &top) const override
-      {
-        PT* config = boost::any_cast<PT*>(cfg);
-
-        T* f = &((*config).*field);
-        f->setParams(top, abstract_parameters);
-
-        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
-        {
-          boost::any n = &((*config).*field);
-          (*i)->updateParams(n, top);
-        }
-      }
-
-      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const override
-      {
-        const PT config = boost::any_cast<PT>(cfg);
-        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
-
-        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
-        {
-          (*i)->toMessage(msg, config.*field);
-        }
-      }
-
-      T PT::* field;
-      std::vector<FlashDetectorConfig::AbstractGroupDescriptionConstPtr> groups;
-    };
-
-class DEFAULT
-{
-  public:
-    DEFAULT()
-    {
-      state = true;
-      name = "Default";
-    }
-
-    void setParams(FlashDetectorConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
-    {
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
-      {
-        boost::any val;
-        (*_i)->getValue(config, val);
-
-        if("hsv_h_min"==(*_i)->name){hsv_h_min = boost::any_cast<int>(val);}
-        if("hsv_h_max"==(*_i)->name){hsv_h_max = boost::any_cast<int>(val);}
-        if("hsv_s_min"==(*_i)->name){hsv_s_min = boost::any_cast<int>(val);}
-        if("hsv_s_max"==(*_i)->name){hsv_s_max = boost::any_cast<int>(val);}
-        if("hsv_v_min"==(*_i)->name){hsv_v_min = boost::any_cast<int>(val);}
-        if("hsv_v_max"==(*_i)->name){hsv_v_max = boost::any_cast<int>(val);}
-        if("kernel_size"==(*_i)->name){kernel_size = boost::any_cast<int>(val);}
-        if("min_area"==(*_i)->name){min_area = boost::any_cast<double>(val);}
-      }
-    }
-
-    int hsv_h_min;
-int hsv_h_max;
-int hsv_s_min;
-int hsv_s_max;
-int hsv_v_min;
-int hsv_v_max;
-int kernel_size;
-double min_area;
-
-    bool state;
-    std::string name;
-
-    
-}groups;
-
-
-
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int hsv_h_min;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int hsv_h_max;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int hsv_s_min;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int hsv_s_max;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int hsv_v_min;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int hsv_v_max;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      int kernel_size;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      double min_area;
-//#line 231 "/opt/ros/noetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
-
-    bool __fromMessage__(dynamic_reconfigure::Config &msg)
-    {
-      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
-      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
-
-      int count = 0;
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
-        if ((*i)->fromMessage(msg, *this))
-          count++;
-
-      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
-      {
-        if ((*i)->id == 0)
-        {
-          boost::any n = boost::any(this);
-          (*i)->updateParams(n, *this);
-          (*i)->fromMessage(msg, n);
-        }
-      }
-
-      if (count != dynamic_reconfigure::ConfigTools::size(msg))
-      {
-        ROS_ERROR("FlashDetectorConfig::__fromMessage__ called with an unexpected parameter.");
-        ROS_ERROR("Booleans:");
-        for (size_t i = 0; i < msg.bools.size(); i++)
-          ROS_ERROR("  %s", msg.bools[i].name.c_str());
-        ROS_ERROR("Integers:");
-        for (size_t i = 0; i < msg.ints.size(); i++)
-          ROS_ERROR("  %s", msg.ints[i].name.c_str());
-        ROS_ERROR("Doubles:");
-        for (size_t i = 0; i < msg.doubles.size(); i++)
-          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
-        ROS_ERROR("Strings:");
-        for (size_t i = 0; i < msg.strs.size(); i++)
-          ROS_ERROR("  %s", msg.strs[i].name.c_str());
-        // @todo Check that there are no duplicates. Make this error more
-        // explicit.
-        return false;
-      }
-      return true;
-    }
-
-    // This version of __toMessage__ is used during initialization of
-    // statics when __getParamDescriptions__ can't be called yet.
-    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
-    {
-      dynamic_reconfigure::ConfigTools::clear(msg);
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
-        (*i)->toMessage(msg, *this);
-
-      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
-      {
-        if((*i)->id == 0)
-        {
-          (*i)->toMessage(msg, *this);
-        }
-      }
-    }
-
-    void __toMessage__(dynamic_reconfigure::Config &msg) const
-    {
-      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
-      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
-      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
-    }
-
-    void __toServer__(const ros::NodeHandle &nh) const
-    {
-      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
-        (*i)->toServer(nh, *this);
-    }
-
-    void __fromServer__(const ros::NodeHandle &nh)
-    {
-      static bool setup=false;
-
-      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
-        (*i)->fromServer(nh, *this);
-
-      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
-      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
-        if (!setup && (*i)->id == 0) {
-          setup = true;
-          boost::any n = boost::any(this);
-          (*i)->setInitialState(n);
-        }
-      }
-    }
-
-    void __clamp__()
-    {
-      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
-      const FlashDetectorConfig &__max__ = __getMax__();
-      const FlashDetectorConfig &__min__ = __getMin__();
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
-        (*i)->clamp(*this, __max__, __min__);
-    }
-
-    uint32_t __level__(const FlashDetectorConfig &config) const
-    {
-      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
-      uint32_t level = 0;
-      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
-        (*i)->calcLevel(level, config, *this);
-      return level;
-    }
-
-    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
-    static const FlashDetectorConfig &__getDefault__();
-    static const FlashDetectorConfig &__getMax__();
-    static const FlashDetectorConfig &__getMin__();
-    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
-    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
-
-  private:
-    static const FlashDetectorConfigStatics *__get_statics__();
-  };
-
-  template <> // Max and min are ignored for strings.
-  inline void FlashDetectorConfig::ParamDescription<std::string>::clamp(FlashDetectorConfig &config, const FlashDetectorConfig &max, const FlashDetectorConfig &min) const
-  {
-    (void) config;
-    (void) min;
-    (void) max;
-    return;
-  }
-
-  class FlashDetectorConfigStatics
-  {
-    friend class FlashDetectorConfig;
-
-    FlashDetectorConfigStatics()
-    {
-FlashDetectorConfig::GroupDescription<FlashDetectorConfig::DEFAULT, FlashDetectorConfig> Default("Default", "", 0, 0, true, &FlashDetectorConfig::groups);
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.hsv_h_min = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.hsv_h_min = 180;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.hsv_h_min = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_h_min", "int", 0, "HSV H min", "", &FlashDetectorConfig::hsv_h_min)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_h_min", "int", 0, "HSV H min", "", &FlashDetectorConfig::hsv_h_min)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.hsv_h_max = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.hsv_h_max = 180;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.hsv_h_max = 30;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_h_max", "int", 0, "HSV H max", "", &FlashDetectorConfig::hsv_h_max)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_h_max", "int", 0, "HSV H max", "", &FlashDetectorConfig::hsv_h_max)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.hsv_s_min = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.hsv_s_min = 255;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.hsv_s_min = 100;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_s_min", "int", 0, "HSV S min", "", &FlashDetectorConfig::hsv_s_min)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_s_min", "int", 0, "HSV S min", "", &FlashDetectorConfig::hsv_s_min)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.hsv_s_max = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.hsv_s_max = 255;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.hsv_s_max = 255;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_s_max", "int", 0, "HSV S max", "", &FlashDetectorConfig::hsv_s_max)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_s_max", "int", 0, "HSV S max", "", &FlashDetectorConfig::hsv_s_max)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.hsv_v_min = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.hsv_v_min = 255;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.hsv_v_min = 200;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_v_min", "int", 0, "HSV V min", "", &FlashDetectorConfig::hsv_v_min)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_v_min", "int", 0, "HSV V min", "", &FlashDetectorConfig::hsv_v_min)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.hsv_v_max = 0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.hsv_v_max = 255;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.hsv_v_max = 255;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_v_max", "int", 0, "HSV V max", "", &FlashDetectorConfig::hsv_v_max)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("hsv_v_max", "int", 0, "HSV V max", "", &FlashDetectorConfig::hsv_v_max)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.kernel_size = 1;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.kernel_size = 21;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.kernel_size = 5;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("kernel_size", "int", 0, "Morphology kernel size", "", &FlashDetectorConfig::kernel_size)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<int>("kernel_size", "int", 0, "Morphology kernel size", "", &FlashDetectorConfig::kernel_size)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __min__.min_area = 1.0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.min_area = 5000.0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.min_area = 50.0;
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.abstract_parameters.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<double>("min_area", "double", 0, "Minimum detection area", "", &FlashDetectorConfig::min_area)));
-//#line 292 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __param_descriptions__.push_back(FlashDetectorConfig::AbstractParamDescriptionConstPtr(new FlashDetectorConfig::ParamDescription<double>("min_area", "double", 0, "Minimum detection area", "", &FlashDetectorConfig::min_area)));
-//#line 247 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      Default.convertParams();
-//#line 247 "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __group_descriptions__.push_back(FlashDetectorConfig::AbstractGroupDescriptionConstPtr(new FlashDetectorConfig::GroupDescription<FlashDetectorConfig::DEFAULT, FlashDetectorConfig>(Default)));
-//#line 369 "/opt/ros/noetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
-
-      for (std::vector<FlashDetectorConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
-      {
-        __description_message__.groups.push_back(**i);
-      }
-      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
-      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
-      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
-    }
-    std::vector<FlashDetectorConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
-    std::vector<FlashDetectorConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
-    FlashDetectorConfig __max__;
-    FlashDetectorConfig __min__;
-    FlashDetectorConfig __default__;
-    dynamic_reconfigure::ConfigDescription __description_message__;
-
-    static const FlashDetectorConfigStatics *get_instance()
-    {
-      // Split this off in a separate function because I know that
-      // instance will get initialized the first time get_instance is
-      // called, and I am guaranteeing that get_instance gets called at
-      // most once.
-      static FlashDetectorConfigStatics instance;
-      return &instance;
-    }
-  };
-
-  inline const dynamic_reconfigure::ConfigDescription &FlashDetectorConfig::__getDescriptionMessage__()
-  {
-    return __get_statics__()->__description_message__;
-  }
-
-  inline const FlashDetectorConfig &FlashDetectorConfig::__getDefault__()
-  {
-    return __get_statics__()->__default__;
-  }
-
-  inline const FlashDetectorConfig &FlashDetectorConfig::__getMax__()
-  {
-    return __get_statics__()->__max__;
-  }
-
-  inline const FlashDetectorConfig &FlashDetectorConfig::__getMin__()
-  {
-    return __get_statics__()->__min__;
-  }
-
-  inline const std::vector<FlashDetectorConfig::AbstractParamDescriptionConstPtr> &FlashDetectorConfig::__getParamDescriptions__()
-  {
-    return __get_statics__()->__param_descriptions__;
-  }
-
-  inline const std::vector<FlashDetectorConfig::AbstractGroupDescriptionConstPtr> &FlashDetectorConfig::__getGroupDescriptions__()
-  {
-    return __get_statics__()->__group_descriptions__;
-  }
-
-  inline const FlashDetectorConfigStatics *FlashDetectorConfig::__get_statics__()
-  {
-    const static FlashDetectorConfigStatics *statics;
-
-    if (statics) // Common case
-      return statics;
-
-    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
-
-    if (statics) // In case we lost a race.
-      return statics;
-
-    statics = FlashDetectorConfigStatics::get_instance();
-
-    return statics;
-  }
-
-
-}
-
-#undef DYNAMIC_RECONFIGURE_FINAL
-
-#endif // __FLASHDETECTORRECONFIGURATOR_H__
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/flash_detector/flash_detector_node b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/flash_detector/flash_detector_node
deleted file mode 100644
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diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/pkgconfig/flash_detector.pc b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/pkgconfig/flash_detector.pc
deleted file mode 100644
index cceb178..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/pkgconfig/flash_detector.pc
+++ /dev/null
@@ -1,8 +0,0 @@
-prefix=/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector
-
-Name: flash_detector
-Description: Description of flash_detector
-Version: 0.1.0
-Cflags: -I/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include -I/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/include -I/usr/include/opencv4
-Libs: -L${prefix}/lib -lflash_detector /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0
-Requires: cv_bridge roscpp sensor_msgs std_msgs dynamic_reconfigure image_transport
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/__init__.py b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/FlashDetectorConfig.py b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/FlashDetectorConfig.py
deleted file mode 100644
index 5a05e50..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/FlashDetectorConfig.py
+++ /dev/null
@@ -1,36 +0,0 @@
-## *********************************************************
-##
-## File autogenerated for the flash_detector package
-## by the dynamic_reconfigure package.
-## Please do not edit.
-##
-## ********************************************************/
-
-from dynamic_reconfigure.encoding import extract_params
-
-inf = float('inf')
-
-config_description = {'name': 'Default', 'type': '', 'state': True, 'cstate': 'true', 'id': 0, 'parent': 0, 'parameters': [{'name': 'hsv_h_min', 'type': 'int', 'default': 0, 'level': 0, 'description': 'HSV H min', 'min': 0, 'max': 180, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'hsv_h_max', 'type': 'int', 'default': 30, 'level': 0, 'description': 'HSV H max', 'min': 0, 'max': 180, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'hsv_s_min', 'type': 'int', 'default': 100, 'level': 0, 'description': 'HSV S min', 'min': 0, 'max': 255, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'hsv_s_max', 'type': 'int', 'default': 255, 'level': 0, 'description': 'HSV S max', 'min': 0, 'max': 255, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'hsv_v_min', 'type': 'int', 'default': 200, 'level': 0, 'description': 'HSV V min', 'min': 0, 'max': 255, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'hsv_v_max', 'type': 'int', 'default': 255, 'level': 0, 'description': 'HSV V max', 'min': 0, 'max': 255, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'kernel_size', 'type': 'int', 'default': 5, 'level': 0, 'description': 'Morphology kernel size', 'min': 1, 'max': 21, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'int', 'cconsttype': 'const int'}, {'name': 'min_area', 'type': 'double', 'default': 50.0, 'level': 0, 'description': 'Minimum detection area', 'min': 1.0, 'max': 5000.0, 'srcline': 292, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'edit_method': '', 'ctype': 'double', 'cconsttype': 'const double'}], 'groups': [], 'srcline': 247, 'srcfile': '/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'class': 'DEFAULT', 'parentclass': '', 'parentname': 'Default', 'field': 'default', 'upper': 'DEFAULT', 'lower': 'groups'}
-
-min = {}
-max = {}
-defaults = {}
-level = {}
-type = {}
-all_level = 0
-
-#def extract_params(config):
-#    params = []
-#    params.extend(config['parameters'])
-#    for group in config['groups']:
-#        params.extend(extract_params(group))
-#    return params
-
-for param in extract_params(config_description):
-    min[param['name']] = param['min']
-    max[param['name']] = param['max']
-    defaults[param['name']] = param['default']
-    level[param['name']] = param['level']
-    type[param['name']] = param['type']
-    all_level = all_level | param['level']
-
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/__init__.py b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.bash b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.bash
deleted file mode 100644
index 7da0d97..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.fish b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.fish
deleted file mode 100644
index 3f4ea37..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.fish
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.sh b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.sh
deleted file mode 100644
index 178ea79..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.zsh b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.zsh
deleted file mode 100644
index e692acc..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.bash b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.bash
deleted file mode 100644
index ff47af8..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.fish b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.fish
deleted file mode 100644
index 1fdcb28..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.fish
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.sh b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.sh
deleted file mode 100644
index 4d065a0..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.sh
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.zsh b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.zsh
deleted file mode 100644
index 9f780b7..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.zsh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig-version.cmake b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig-version.cmake
deleted file mode 100644
index e03eef1..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig-version.cmake.in
-set(PACKAGE_VERSION "0.1.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig.cmake b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig.cmake
deleted file mode 100644
index a48f582..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig.cmake
+++ /dev/null
@@ -1,225 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig.cmake.in
-
-# append elements to a list and remove existing duplicates from the list
-# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
-# self contained
-macro(_list_append_deduplicate listname)
-  if(NOT "${ARGN}" STREQUAL "")
-    if(${listname})
-      list(REMOVE_ITEM ${listname} ${ARGN})
-    endif()
-    list(APPEND ${listname} ${ARGN})
-  endif()
-endmacro()
-
-# append elements to a list if they are not already in the list
-# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
-# self contained
-macro(_list_append_unique listname)
-  foreach(_item ${ARGN})
-    list(FIND ${listname} ${_item} _index)
-    if(_index EQUAL -1)
-      list(APPEND ${listname} ${_item})
-    endif()
-  endforeach()
-endmacro()
-
-# pack a list of libraries with optional build configuration keywords
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_pack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  set(_argn ${ARGN})
-  list(LENGTH _argn _count)
-  set(_index 0)
-  while(${_index} LESS ${_count})
-    list(GET _argn ${_index} lib)
-    if("${lib}" MATCHES "^(debug|optimized|general)$")
-      math(EXPR _index "${_index} + 1")
-      if(${_index} EQUAL ${_count})
-        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
-      endif()
-      list(GET _argn ${_index} library)
-      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
-    else()
-      list(APPEND ${VAR} "${lib}")
-    endif()
-    math(EXPR _index "${_index} + 1")
-  endwhile()
-endmacro()
-
-# unpack a list of libraries with optional build configuration keyword prefixes
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_unpack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  foreach(lib ${ARGN})
-    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
-    list(APPEND ${VAR} "${lib}")
-  endforeach()
-endmacro()
-
-
-if(flash_detector_CONFIG_INCLUDED)
-  return()
-endif()
-set(flash_detector_CONFIG_INCLUDED TRUE)
-
-# set variables for source/devel/install prefixes
-if("TRUE" STREQUAL "TRUE")
-  set(flash_detector_SOURCE_PREFIX /home/mc/ZhiTu/flash_detector_ws/src/flash_detector)
-  set(flash_detector_DEVEL_PREFIX /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector)
-  set(flash_detector_INSTALL_PREFIX "")
-  set(flash_detector_PREFIX ${flash_detector_DEVEL_PREFIX})
-else()
-  set(flash_detector_SOURCE_PREFIX "")
-  set(flash_detector_DEVEL_PREFIX "")
-  set(flash_detector_INSTALL_PREFIX /home/mc/ZhiTu/flash_detector_ws/install)
-  set(flash_detector_PREFIX ${flash_detector_INSTALL_PREFIX})
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'flash_detector' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  message("${_msg}")
-endif()
-
-# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(flash_detector_FOUND_CATKIN_PROJECT TRUE)
-
-if(NOT "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include;/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/include;/usr/include/opencv4 " STREQUAL " ")
-  set(flash_detector_INCLUDE_DIRS "")
-  set(_include_dirs "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include;/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/include;/usr/include/opencv4")
-  if(NOT " " STREQUAL " ")
-    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
-  elseif(NOT "https://github.com/amovlab/Prometheus " STREQUAL " ")
-    set(_report "Check the website 'https://github.com/amovlab/Prometheus' for information and consider reporting the problem.")
-  else()
-    set(_report "Report the problem to the maintainer 'mc <mc@example.com>' and request to fix the problem.")
-  endif()
-  foreach(idir ${_include_dirs})
-    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
-      set(include ${idir})
-    elseif("${idir} " STREQUAL "include ")
-      get_filename_component(include "${flash_detector_DIR}/../../../include" ABSOLUTE)
-      if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'flash_detector' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
-      endif()
-    else()
-      message(FATAL_ERROR "Project 'flash_detector' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/${idir}'.  ${_report}")
-    endif()
-    _list_append_unique(flash_detector_INCLUDE_DIRS ${include})
-  endforeach()
-endif()
-
-set(libraries "flash_detector;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0")
-foreach(library ${libraries})
-  # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is
-  if("${library}" MATCHES "^(debug|optimized|general)$")
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-l")
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-")
-    # This is a linker flag/option (like -pthread)
-    # There's no standard variable for these, so create an interface library to hold it
-    if(NOT flash_detector_NUM_DUMMY_TARGETS)
-      set(flash_detector_NUM_DUMMY_TARGETS 0)
-    endif()
-    # Make sure the target name is unique
-    set(interface_target_name "catkin::flash_detector::wrapped-linker-option${flash_detector_NUM_DUMMY_TARGETS}")
-    while(TARGET "${interface_target_name}")
-      math(EXPR flash_detector_NUM_DUMMY_TARGETS "${flash_detector_NUM_DUMMY_TARGETS}+1")
-      set(interface_target_name "catkin::flash_detector::wrapped-linker-option${flash_detector_NUM_DUMMY_TARGETS}")
-    endwhile()
-    add_library("${interface_target_name}" INTERFACE IMPORTED)
-    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
-      set_property(
-        TARGET
-        "${interface_target_name}"
-        APPEND PROPERTY
-        INTERFACE_LINK_LIBRARIES "${library}")
-    else()
-      target_link_options("${interface_target_name}" INTERFACE "${library}")
-    endif()
-    list(APPEND flash_detector_LIBRARIES "${interface_target_name}")
-  elseif(${library} MATCHES "^\\$<")
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(TARGET ${library})
-    list(APPEND flash_detector_LIBRARIES ${library})
-  elseif(IS_ABSOLUTE ${library})
-    list(APPEND flash_detector_LIBRARIES ${library})
-  else()
-    set(lib_path "")
-    set(lib "${library}-NOTFOUND")
-    # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib;/home/mc/ZhiTu/flash_detector_ws/devel/lib;/opt/ros/noetic/lib)
-      find_library(lib ${library}
-        PATHS ${path}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-      if(lib)
-        set(lib_path ${path})
-        break()
-      endif()
-    endforeach()
-    if(lib)
-      _list_append_unique(flash_detector_LIBRARY_DIRS ${lib_path})
-      list(APPEND flash_detector_LIBRARIES ${lib})
-    else()
-      # as a fall back for non-catkin libraries try to search globally
-      find_library(lib ${library})
-      if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'flash_detector'?  Did you find_package() it before the subdirectory containing its code is included?")
-      endif()
-      list(APPEND flash_detector_LIBRARIES ${lib})
-    endif()
-  endif()
-endforeach()
-
-set(flash_detector_EXPORTED_TARGETS "flash_detector_gencfg")
-# create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${flash_detector_EXPORTED_TARGETS})
-  if(NOT TARGET ${t})
-    add_custom_target(${t})
-  endif()
-endforeach()
-
-set(depends "cv_bridge;roscpp;sensor_msgs;std_msgs;dynamic_reconfigure;image_transport")
-foreach(depend ${depends})
-  string(REPLACE " " ";" depend_list ${depend})
-  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 flash_detector_dep)
-  list(LENGTH depend_list count)
-  if(${count} EQUAL 1)
-    # simple dependencies must only be find_package()-ed once
-    if(NOT ${flash_detector_dep}_FOUND)
-      find_package(${flash_detector_dep} REQUIRED NO_MODULE)
-    endif()
-  else()
-    # dependencies with components must be find_package()-ed again
-    list(REMOVE_AT depend_list 0)
-    find_package(${flash_detector_dep} REQUIRED NO_MODULE ${depend_list})
-  endif()
-  _list_append_unique(flash_detector_INCLUDE_DIRS ${${flash_detector_dep}_INCLUDE_DIRS})
-
-  # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(flash_detector_LIBRARIES ${flash_detector_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${flash_detector_dep}_LIBRARIES})
-  _list_append_deduplicate(flash_detector_LIBRARIES ${_libraries})
-  # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(flash_detector_LIBRARIES ${flash_detector_LIBRARIES})
-
-  _list_append_unique(flash_detector_LIBRARY_DIRS ${${flash_detector_dep}_LIBRARY_DIRS})
-  _list_append_deduplicate(flash_detector_EXPORTED_TARGETS ${${flash_detector_dep}_EXPORTED_TARGETS})
-endforeach()
-
-set(pkg_cfg_extras "")
-foreach(extra ${pkg_cfg_extras})
-  if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${flash_detector_DIR}/${extra})
-  endif()
-  include(${extra})
-endforeach()
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig-usage.dox b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig-usage.dox
deleted file mode 100644
index 6875ec3..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig-usage.dox
+++ /dev/null
@@ -1,14 +0,0 @@
-\subsubsection usage Usage
-\verbatim
-<node name="flash_detector" pkg="flash_detector" type="flash_detector">
-  <param name="hsv_h_min" type="int" value="0" />
-  <param name="hsv_h_max" type="int" value="30" />
-  <param name="hsv_s_min" type="int" value="100" />
-  <param name="hsv_s_max" type="int" value="255" />
-  <param name="hsv_v_min" type="int" value="200" />
-  <param name="hsv_v_max" type="int" value="255" />
-  <param name="kernel_size" type="int" value="5" />
-  <param name="min_area" type="double" value="50.0" />
-</node>
-\endverbatim
-
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.dox b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.dox
deleted file mode 100644
index 0c17062..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.dox
+++ /dev/null
@@ -1,13 +0,0 @@
-\subsubsection parameters ROS parameters
-
-Reads and maintains the following parameters on the ROS server
-
-- \b "~hsv_h_min" : \b [int] HSV H min min: 0, default: 0, max: 180
-- \b "~hsv_h_max" : \b [int] HSV H max min: 0, default: 30, max: 180
-- \b "~hsv_s_min" : \b [int] HSV S min min: 0, default: 100, max: 255
-- \b "~hsv_s_max" : \b [int] HSV S max min: 0, default: 255, max: 255
-- \b "~hsv_v_min" : \b [int] HSV V min min: 0, default: 200, max: 255
-- \b "~hsv_v_max" : \b [int] HSV V max min: 0, default: 255, max: 255
-- \b "~kernel_size" : \b [int] Morphology kernel size min: 1, default: 5, max: 21
-- \b "~min_area" : \b [double] Minimum detection area min: 1.0, default: 50.0, max: 5000.0
-
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.wikidoc b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.wikidoc
deleted file mode 100644
index 12c356f..0000000
--- a/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.wikidoc
+++ /dev/null
@@ -1,40 +0,0 @@
-# Autogenerated param section. Do not hand edit.
-param {
-group.0 {
-name=Dynamically Reconfigurable Parameters
-desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
-0.name= ~hsv_h_min
-0.default= 0
-0.type= int
-0.desc=HSV H min Range: 0 to 180
-1.name= ~hsv_h_max
-1.default= 30
-1.type= int
-1.desc=HSV H max Range: 0 to 180
-2.name= ~hsv_s_min
-2.default= 100
-2.type= int
-2.desc=HSV S min Range: 0 to 255
-3.name= ~hsv_s_max
-3.default= 255
-3.type= int
-3.desc=HSV S max Range: 0 to 255
-4.name= ~hsv_v_min
-4.default= 200
-4.type= int
-4.desc=HSV V min Range: 0 to 255
-5.name= ~hsv_v_max
-5.default= 255
-5.type= int
-5.desc=HSV V max Range: 0 to 255
-6.name= ~kernel_size
-6.default= 5
-6.type= int
-6.desc=Morphology kernel size Range: 1 to 21
-7.name= ~min_area
-7.default= 50.0
-7.type= double
-7.desc=Minimum detection area Range: 1.0 to 5000.0
-}
-}
-# End of autogenerated section. You may edit below.
diff --git a/src/闪光检测/flash_detector_ws/devel/_setup_util.py b/src/闪光检测/flash_detector_ws/devel/_setup_util.py
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diff --git a/src/闪光检测/flash_detector_ws/devel/share/flash_detector/docs/FlashDetectorConfig.wikidoc b/src/闪光检测/flash_detector_ws/devel/share/flash_detector/docs/FlashDetectorConfig.wikidoc
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diff --git a/src/闪光检测/start_all.sh b/src/闪光检测/start_all.sh
index cf2fe3c..ca6dacd 100644
--- a/src/闪光检测/start_all.sh
+++ b/src/闪光检测/start_all.sh
@@ -5,27 +5,110 @@
 echo "========================================"
 echo "  P600 无人机控制系统 - 启动脚本"
 echo "========================================"
+
+# 颜色定义
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+echo ""
+echo -e "${YELLOW}========== 第一步：编译闪光检测节点 ==========${NC}"
+echo ""
+echo "在编译前，请确保已安装 ROS 环境 (如 noetic)"
+echo ""
+echo -e "${GREEN}# 进入工作空间目录${NC}"
+echo "cd ~/ZhiTu/flash_detector_ws"
+echo ""
+echo -e "${GREEN}# 编译闪光检测节点${NC}"
+echo "source /opt/ros/noetic/setup.bash"
+echo "catkin_make"
+echo ""
+echo -e "${GREEN}# 如果使用 catkin_tools，则使用:${NC}"
+echo "catkin build"
+echo ""
+echo -e "${BLUE}编译完成后，devel/ 目录会自动生成${NC}"
+echo ""
+
+echo "========================================"
+echo -e "${YELLOW}========== 第二步：启动各组件 ==========${NC}"
+echo "========================================"
 echo ""
 echo "请在 4 个终端中分别执行以下命令:"
 echo ""
-echo -e "\e[32m# 终端 1 - ROS Master\e[0m"
-echo "roscore"
-echo "如果是仿真模式，就运行下面这个"
+
+echo -e "${GREEN}# 终端 1 - ROS Master (仿真模式)${NC}"
 echo "roslaunch prometheus_gazebo sitl.launch"
 echo ""
-echo -e "\e[32m# 终端 2 - rosbridge_server\e[0m"
+echo -e "${BLUE}# 或者实机模式，先启动 roscore，再启动 MAVROS:${NC}"
+echo "roscore"
+echo "# 另一个终端:"
+echo "roslaunch mavros_node.launch"
+echo ""
+
+echo -e "${GREEN}# 终端 2 - rosbridge_server${NC}"
 echo "roslaunch rosbridge_server rosbridge_websocket.launch"
 echo ""
-echo -e "\e[32m# 终端 3 - 光斑检测节点 (C++)\e[0m"
-echo "cd /home/mc/ZhiTu/flash_detector_ws"
+
+echo -e "${GREEN}# 终端 3 - 闪光检测节点 (C++)${NC}"
+echo "cd ~/ZhiTu/flash_detector_ws"
 echo "source /opt/ros/noetic/setup.bash"
 echo "source devel/setup.bash"
 echo "roslaunch flash_detector flash_detector.launch camera_topic:=/uav1/camera/color/image_raw"
 echo ""
-echo -e "\e[32m# 终端 4 - 前端服务\e[0m"
-echo "cd /home/mc/ZhiTu/FrontEnd"
-echo "python3 server/app.py"
+echo -e "${BLUE}# 常用参数说明:${NC}"
+echo "#   camera_topic  - 相机图像话题 (根据实际情况修改)"
+echo "#   debug_view    - 是否显示调试窗口 (true/false)"
 echo ""
+
+echo -e "${GREEN}# 终端 4 - 前端服务 (软件电脑端)${NC}"
+echo "cd ~/ZhiTu/软件电脑端/server"
+echo "python3 app.py"
+echo ""
+
+echo "========================================"
+echo -e "${YELLOW}浏览器访问: http://localhost:5000${NC}"
+echo "========================================"
+echo ""
+
+echo -e "${YELLOW}========== 常见问题排查 ==========${NC}"
+echo ""
+echo -e "${RED}问题1: 编译失败 - 找不到 OpenCV${NC}"
+echo "解决: sudo apt install libopencv-dev python3-opencv"
+echo ""
+echo -e "${RED}问题2: 话题无数据${NC}"
+echo "解决: rostopic list 检查话题是否存在"
+echo "      rostopic echo /uav1/camera/color/image_raw 检查图像数据"
+echo ""
+echo -e "${RED}问题3: 前端无法连接 rosbridge${NC}"
+echo "解决: 检查 rosbridge 是否启动，端口是否为 9090"
+echo "      浏览器控制台查看 WebSocket 连接状态"
+echo ""
+
+echo "========================================"
+echo -e "${BLUE}目录结构说明:${NC}"
+echo "========================================"
+echo ""
+echo "闪光检测/"
+echo "├── flash_detector_ws/        # ROS 工作空间"
+echo "│   ├── src/                  # 源代码 (保留)"
+echo "│   │   └── flash_detector/   # 闪光检测节点源码"
+echo "│   ├── build/                # 编译缓存 (可删除，重新编译生成)"
+echo "│   └── devel/                # 编译输出 (可删除，重新编译生成)"
+echo "└── start_all.sh              # 本启动脚本"
+echo ""
+echo "软件电脑端/                    # 主前端 (已集成闪光检测功能)"
+echo "├── index.html                # 主页面"
+echo "├── js/"
+echo "│   ├── ui.js                 # UI 模块 (含闪光检测)"
+echo "│   ├── flash_detector.js     # 闪光检测前端模块"
+echo "│   └── flash_avoidance.js    # 避闪光模块"
+echo "├── css/"
+echo "└── server/"
+echo "    └── app.py                # Flask 后端服务"
+echo ""
+
 echo "========================================"
-echo -e "\e[33m浏览器访问: http://localhost:5000\e[0m"
+echo -e "${GREEN}启动完成!${NC}"
 echo "========================================"