@@ -204,19 +231,24 @@
-
@@ -229,7 +261,6 @@
-
+ 1
diff --git a/src/单兵终端APP/js/api.js b/src/单兵终端APP/js/api.js
index 4316bcb..4497fbc 100644
--- a/src/单兵终端APP/js/api.js
+++ b/src/单兵终端APP/js/api.js
@@ -142,6 +142,17 @@ const API = (() => {
}
}
+ async function changePassword(soldierId, oldPassword, newPassword) {
+ return request('/api/auth/change-password', {
+ method: 'POST',
+ body: JSON.stringify({
+ soldier_id: soldierId,
+ old_password: oldPassword,
+ new_password: newPassword
+ })
+ });
+ }
+
// ===== 模拟数据（后端未就绪时使用） =====
function getMockDropPoints() {
return [
@@ -201,6 +212,7 @@ const API = (() => {
sendSOS,
login,
register,
- getAccounts
+ getAccounts,
+ changePassword
};
})();
diff --git a/src/单兵终端APP/js/app.js b/src/单兵终端APP/js/app.js
index c5afd32..69cd736 100644
--- a/src/单兵终端APP/js/app.js
+++ b/src/单兵终端APP/js/app.js
@@ -10,6 +10,7 @@ const App = (() => {
soldierId: localStorage.getItem('soldier_id') || 'soldier_001',
soldierName: localStorage.getItem('soldier_name') || '张三',
soldierUnit: localStorage.getItem('soldier_unit') || '第3步兵师/1连',
+ theme: localStorage.getItem('app_theme') || 'dark', // 主题模式：'dark' | 'light' | 'auto'
pollInterval: 5000
};
@@ -25,6 +26,9 @@ const App = (() => {
// ===== 初始化 =====
function init() {
+ // 初始化主题
+ initTheme();
+
// 检查登录状态
const saved = localStorage.getItem('soldier_session');
if (saved) {
@@ -337,9 +341,20 @@ const App = (() => {
try {
await API.postDemand(demand);
showToast('✅ 需求上报成功！');
+
+ // 清空选中的投放点
selectedDropPoint = null;
+ mapSelectedPoint = null;
+
+ // 重置填写物资信息页面的显示
+ const selectedCard = document.getElementById('selected-drop-card');
const dropDisplay = document.getElementById('demand-drop-display');
- if (dropDisplay) dropDisplay.textContent = '当前位置：A区街角12号';
+ if (selectedCard) selectedCard.style.display = 'none';
+ if (dropDisplay) {
+ dropDisplay.style.display = 'block';
+ dropDisplay.textContent = '未选择投放点';
+ }
+
setTimeout(() => router('home'), 1000);
} catch (e) {
showToast('❌ 上报失败：' + (e.message || '网络错误'));
@@ -352,18 +367,24 @@ const App = (() => {
setTimeout(async () => {
await LocationModule.initPickerMap('drop-map', (point) => {
mapSelectedPoint = point;
- // 更新UI显示
- const nameEl = document.getElementById('drop-selected-name');
- const addrEl = document.getElementById('drop-selected-address');
- const coordEl = document.getElementById('drop-selected-coords');
- if (nameEl) nameEl.textContent = point.name;
- if (addrEl) addrEl.textContent = point.address;
- if (coordEl) coordEl.textContent = `${point.lat.toFixed(6)}, ${point.lng.toFixed(6)}`;
- showToast('📍 已选择：' + point.name);
+
+ // 显示选中位置卡片
+ const selectedCard = document.getElementById('selected-location-card');
+ if (selectedCard) {
+ selectedCard.style.display = 'block';
+
+ // 更新卡片内容
+ const nameEl = document.getElementById('mini-selected-name');
+ const addrEl = document.getElementById('mini-selected-address');
+ if (nameEl) nameEl.textContent = point.name;
+ if (addrEl) addrEl.textContent = point.address || `${point.lat.toFixed(6)}, ${point.lng.toFixed(6)}`;
+
+ showToast('📍 已选择：' + point.name);
+ }
});
}, 300);
- // 加载推荐列表
+ // 加载推荐列表（小卡片形式）
const list = document.getElementById('drop-point-list');
list.innerHTML = '
📍 已选位置
- 请点击地图选择投放点
- --
- --
+
+
-
+
🎯 附近推荐投放点
-
+
- ← 返回
📋 当前任务
@@ -276,7 +307,6 @@
- ← 返回
🚀 无人机状态
@@ -345,7 +375,6 @@
- ← 返回
👤 个人中心
@@ -392,19 +421,19 @@
🔒 安全设置
ℹ️ 关于
@@ -439,7 +468,7 @@
我的
加载中...
';
@@ -374,19 +395,17 @@ const App = (() => {
return;
}
+ // 渲染为小卡片形式
list.innerHTML = points.map((p, i) => {
const isSafe = p.safety_score >= 70;
return `
-
-
- 📍 ${p.name}
-
- 安全系数: ${p.safety_score}%
- 距离: ${p.distance}m
-
- ${p.reason}
-
- ${isSafe ? '✅ 推荐投放' : '❌ 危险区域'}
+
+
#3F51B5 #303F9F #FF4081 This app requires a WebView to work
+
@@ -183,7 +210,7 @@
🎯 地图选点
+
+
`;
}).join('');
@@ -459,35 +478,54 @@ const App = (() => {
showToast('📍 已定位：' + p.name);
}
- // ===== 选择投放点（从列表） =====
- function selectDropPoint(index) {
- API.getDropPoints().then(async points => {
+ // ===== 从列表选择投放点 =====
+ async function selectDropPointFromList(index) {
+ try {
+ const points = await API.getDropPoints();
const p = points[index];
+ if (!p) return;
+
if (p.safety_score < 70) {
showToast('⚠️ 该区域危险，建议选择其他投放点');
return;
}
- selectedDropPoint = p;
-
- // 同时在地图上标记
+
+ // 在地图上标记
await LocationModule.setPickerPosition(p.lat, p.lng, p.name, p.address);
-
- // 更新选中显示
+
+ // 更新选中状态
mapSelectedPoint = {
lat: p.lat,
lng: p.lng,
name: p.name,
address: p.address || p.name
};
- const nameEl = document.getElementById('drop-selected-name');
- const addrEl = document.getElementById('drop-selected-address');
- const coordEl = document.getElementById('drop-selected-coords');
- if (nameEl) nameEl.textContent = p.name;
- if (addrEl) addrEl.textContent = p.address || '安全系数 ' + p.safety_score + '%';
- if (coordEl) coordEl.textContent = `${p.lat.toFixed(6)}, ${p.lng.toFixed(6)}`;
-
+
+ // 显示选中位置卡片
+ const selectedCard = document.getElementById('selected-location-card');
+ if (selectedCard) {
+ selectedCard.style.display = 'block';
+
+ const nameEl = document.getElementById('mini-selected-name');
+ const addrEl = document.getElementById('mini-selected-address');
+ if (nameEl) nameEl.textContent = p.name;
+ if (addrEl) addrEl.textContent = p.address || `安全系数 ${p.safety_score}%`;
+ }
+
showToast('已选择：' + p.name);
- });
+ } catch (e) {
+ showToast('选择失败');
+ }
+ }
+
+ // ===== 从地图选择投放点（点击选中的卡片） =====
+ function selectDropPointFromMap() {
+ if (!mapSelectedPoint) {
+ showToast('请先在地图上选择一个位置');
+ return;
+ }
+
+ showToast('📍 已确认：' + mapSelectedPoint.name);
}
function confirmDropPoint() {
@@ -495,18 +533,48 @@ const App = (() => {
if (mapSelectedPoint) {
selectedDropPoint = mapSelectedPoint;
router('demand');
- const display = document.getElementById('demand-drop-display');
- if (display) display.textContent = mapSelectedPoint.name;
+
+ // 更新填写物资信息页面的显示
+ const selectedCard = document.getElementById('selected-drop-card');
+ const dropDisplay = document.getElementById('demand-drop-display');
+
+ if (selectedCard && dropDisplay) {
+ // 隐藏默认显示，显示选中卡片
+ dropDisplay.style.display = 'none';
+ selectedCard.style.display = 'block';
+
+ // 更新卡片内容
+ const nameEl = document.getElementById('selected-drop-name');
+ const coordsEl = document.getElementById('selected-drop-coords');
+ if (nameEl) nameEl.textContent = mapSelectedPoint.name;
+ if (coordsEl) coordsEl.textContent = `${mapSelectedPoint.lat.toFixed(6)}, ${mapSelectedPoint.lng.toFixed(6)}`;
+ }
+
showToast('✅ 已确认投放点：' + mapSelectedPoint.name);
return;
}
+
// fallback到列表选中的点
if (selectedDropPoint) {
router('demand');
- const display = document.getElementById('demand-drop-display');
- if (display) display.textContent = selectedDropPoint.name;
+
+ const selectedCard = document.getElementById('selected-drop-card');
+ const dropDisplay = document.getElementById('demand-drop-display');
+
+ if (selectedCard && dropDisplay) {
+ dropDisplay.style.display = 'none';
+ selectedCard.style.display = 'block';
+
+ const nameEl = document.getElementById('selected-drop-name');
+ const coordsEl = document.getElementById('selected-drop-coords');
+ if (nameEl) nameEl.textContent = selectedDropPoint.name;
+ if (coordsEl) coordsEl.textContent = `${selectedDropPoint.lat.toFixed(6)}, ${selectedDropPoint.lng.toFixed(6)}`;
+ }
+
+ showToast('✅ 已确认投放点：' + selectedDropPoint.name);
return;
}
+
showToast('请先点击地图或列表选择一个投放点');
}
@@ -549,7 +617,11 @@ const App = (() => {
if (tstart) tstart.textContent = task.start_name || '后方阵地';
const ttarget = document.getElementById('task-target');
- if (ttarget) ttarget.textContent = task.target_name || '目标位置';
+ if (ttarget) {
+ // 优先使用选中的投放点名称，其次使用后端返回的 target_name
+ const targetName = selectedDropPoint ? selectedDropPoint.name : (task.target_name || '目标位置');
+ ttarget.textContent = targetName;
+ }
const trisk = document.getElementById('task-risk');
if (trisk) trisk.textContent = '安全系数: ' + (task.safety_score || 0) + '%';
@@ -692,9 +764,38 @@ const App = (() => {
}
}
- function updateDropPoint() {
- showToast('投放点已更新');
- setTimeout(() => router('task'), 500);
+ async function updateDropPoint() {
+ try {
+ showToast('正在获取当前位置...');
+
+ // 获取当前位置
+ const pos = await LocationModule.getCurrentPosition();
+
+ // 构建投放点对象
+ const newDropPoint = {
+ name: '当前位置 (' + pos.lat.toFixed(6) + ', ' + pos.lng.toFixed(6) + ')',
+ lat: pos.lat,
+ lng: pos.lng,
+ safety_score: 90, // 默认安全系数
+ address: 'GPS定位位置'
+ };
+
+ // 更新选中的投放点
+ selectedDropPoint = newDropPoint;
+ mapSelectedPoint = newDropPoint;
+
+ showToast('✅ 投放点已更新为当前位置');
+
+ // 跳转到任务页面
+ setTimeout(() => {
+ router('task');
+ // 强制刷新任务信息
+ loadTaskInfo();
+ }, 500);
+ } catch (e) {
+ showToast('❌ 获取位置失败：' + (e.message || '未知错误'));
+ console.error('updateDropPoint错误:', e);
+ }
}
// ===== 标注 =====
@@ -731,6 +832,446 @@ const App = (() => {
}
}
+ // ===== 主题切换 =====
+ function initTheme() {
+ const theme = CONFIG.theme || 'dark';
+ applyTheme(theme);
+ updateThemeDisplay();
+
+ // 如果是自动模式，监听系统主题变化
+ if (theme === 'auto') {
+ const mediaQuery = window.matchMedia('(prefers-color-scheme: dark)');
+ mediaQuery.addEventListener('change', handleSystemThemeChange);
+ }
+ }
+
+ function applyTheme(theme) {
+ if (theme === 'auto') {
+ const isDark = window.matchMedia('(prefers-color-scheme: dark)').matches;
+ document.documentElement.setAttribute('data-theme', isDark ? 'dark' : 'light');
+ } else {
+ document.documentElement.setAttribute('data-theme', theme);
+ }
+ }
+
+ function handleSystemThemeChange(e) {
+ if (CONFIG.theme === 'auto') {
+ applyTheme('auto');
+ const themeName = e.matches ? '深色' : '浅色';
+ showToast('系统主题已切换为：' + themeName + '模式');
+ }
+ }
+
+ function toggleTheme() {
+ // 创建自定义选择弹窗
+ const modal = document.createElement('div');
+ modal.style.cssText = `
+ position: fixed;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+ background: rgba(0,0,0,0.5);
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ z-index: 10000;
+ `;
+
+ const content = document.createElement('div');
+ content.style.cssText = `
+ background: white;
+ border-radius: 12px;
+ padding: 20px;
+ min-width: 280px;
+ max-width: 90%;
+ `;
+
+ const title = document.createElement('div');
+ title.textContent = '选择主题模式';
+ title.style.cssText = `
+ font-size: 16px;
+ font-weight: 600;
+ color: #333;
+ margin-bottom: 16px;
+ text-align: center;
+ `;
+
+ const options = [
+ { value: 'dark', label: '🌙 深色模式', desc: '始终使用深色主题' },
+ { value: 'light', label: '☀️ 浅色模式', desc: '始终使用浅色主题' },
+ { value: 'auto', label: '🔄 跟随系统', desc: '自动跟随系统主题' }
+ ];
+
+ options.forEach((opt, index) => {
+ const optionDiv = document.createElement('div');
+ const isSelected = CONFIG.theme === opt.value;
+ optionDiv.style.cssText = `
+ padding: 12px 16px;
+ margin-bottom: ${index < options.length - 1 ? '8px' : '0'};
+ border-radius: 8px;
+ cursor: pointer;
+ background: ${isSelected ? '#E6F7FF' : '#f5f5f5'};
+ border: ${isSelected ? '2px solid #007AFF' : '2px solid transparent'};
+ transition: all 0.2s;
+ `;
+
+ optionDiv.innerHTML = `
+
+
+ ${p.name}
+ 安全系数: ${p.safety_score}% · 距离: ${p.distance}m
✓
+ ${opt.label}
+
+
+ ${opt.desc}
+
+ `;
+
+ optionDiv.addEventListener('click', () => {
+ // 应用选择的主题
+ CONFIG.theme = opt.value;
+ localStorage.setItem('app_theme', CONFIG.theme);
+ applyTheme(CONFIG.theme);
+ updateThemeDisplay();
+
+ // 关闭弹窗
+ document.body.removeChild(modal);
+
+ const themeNames = {
+ 'dark': '深色模式',
+ 'light': '浅色模式',
+ 'auto': '环境跟随'
+ };
+ showToast('已切换到：' + themeNames[CONFIG.theme]);
+
+ // 如果切换到自动模式，开始监听系统主题
+ if (CONFIG.theme === 'auto') {
+ const mediaQuery = window.matchMedia('(prefers-color-scheme: dark)');
+ mediaQuery.addEventListener('change', handleSystemThemeChange);
+ }
+ });
+
+ content.appendChild(optionDiv);
+ });
+
+ // 添加取消按钮
+ const cancelBtn = document.createElement('div');
+ cancelBtn.textContent = '取消';
+ cancelBtn.style.cssText = `
+ margin-top: 16px;
+ padding: 12px;
+ text-align: center;
+ color: #007AFF;
+ font-size: 14px;
+ cursor: pointer;
+ border-top: 1px solid #e0e0e0;
+ `;
+ cancelBtn.addEventListener('click', () => {
+ document.body.removeChild(modal);
+ });
+
+ content.appendChild(cancelBtn);
+ modal.appendChild(content);
+ document.body.appendChild(modal);
+
+ // 点击背景关闭
+ modal.addEventListener('click', (e) => {
+ if (e.target === modal) {
+ document.body.removeChild(modal);
+ }
+ });
+ }
+
+ function updateThemeDisplay() {
+ const themeEl = document.getElementById('theme-value');
+ if (!themeEl) return;
+
+ const themeIcons = {
+ 'dark': '◉ 深色',
+ 'light': '○ 浅色',
+ 'auto': '◎ 跟随系统'
+ };
+ themeEl.textContent = themeIcons[CONFIG.theme] + ' →';
+ }
+
+ // ===== 修改密码 =====
+ function showChangePasswordModal() {
+ // 获取当前主题
+ const currentTheme = document.documentElement.getAttribute('data-theme') || 'dark';
+ const isDark = currentTheme === 'dark';
+
+ // 主题颜色配置
+ const themeColors = {
+ bg: isDark ? '#1a1a2e' : 'white',
+ text: isDark ? '#e0e0e0' : '#333',
+ border: isDark ? '#2a2a3e' : '#e0e0e0',
+ inputBg: isDark ? '#16213e' : 'white',
+ cancelBg: isDark ? '#2a2a3e' : '#f5f5f5',
+ cancelText: isDark ? '#e0e0e0' : '#333'
+ };
+
+ // 创建弹窗
+ const modal = document.createElement('div');
+ modal.style.cssText = `
+ position: fixed;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+ background: rgba(0,0,0,0.5);
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ z-index: 10000;
+ `;
+
+ const content = document.createElement('div');
+ content.style.cssText = `
+ background: ${themeColors.bg};
+ border-radius: 12px;
+ padding: 24px;
+ min-width: 320px;
+ max-width: 90%;
+ `;
+
+ const title = document.createElement('div');
+ title.textContent = '修改登录密码';
+ title.style.cssText = `
+ font-size: 18px;
+ font-weight: 600;
+ color: ${themeColors.text};
+ margin-bottom: 20px;
+ text-align: center;
+ `;
+
+ // 输入框配置
+ const inputs = [
+ { id: 'old-pwd', label: '原密码', type: 'password', placeholder: '请输入原密码' },
+ { id: 'new-pwd', label: '新密码', type: 'password', placeholder: '请输入新密码' },
+ { id: 'confirm-pwd', label: '确认新密码', type: 'password', placeholder: '请再次输入新密码' }
+ ];
+
+ inputs.forEach((input, index) => {
+ const group = document.createElement('div');
+ group.style.cssText = 'margin-bottom: 16px;';
+
+ const label = document.createElement('label');
+ label.textContent = input.label;
+ label.style.cssText = `
+ display: block;
+ font-size: 14px;
+ color: ${themeColors.text};
+ margin-bottom: 6px;
+ font-weight: 500;
+ `;
+
+ const inputWrapper = document.createElement('div');
+ inputWrapper.style.cssText = 'position: relative;';
+
+ const inputEl = document.createElement('input');
+ inputEl.type = input.type;
+ inputEl.id = input.id;
+ inputEl.placeholder = input.placeholder;
+ inputEl.style.cssText = `
+ width: 100%;
+ padding: 12px 40px 12px 12px;
+ border: 1px solid ${themeColors.border};
+ border-radius: 8px;
+ font-size: 14px;
+ outline: none;
+ box-sizing: border-box;
+ background: ${themeColors.inputBg};
+ color: ${themeColors.text};
+ `;
+
+ // 眼睛图标（显示/隐藏密码）
+ const eyeIcon = document.createElement('span');
+ eyeIcon.innerHTML = '🙈'; // 默认隐藏密码，显示捂眼
+ eyeIcon.style.cssText = `
+ position: absolute;
+ right: 12px;
+ top: 50%;
+ transform: translateY(-50%);
+ cursor: pointer;
+ font-size: 18px;
+ user-select: none;
+ `;
+
+ let isPasswordVisible = false;
+ eyeIcon.addEventListener('click', () => {
+ isPasswordVisible = !isPasswordVisible;
+ inputEl.type = isPasswordVisible ? 'text' : 'password';
+ // 显示密码时用睁开的眼睛，隐藏时用捂眼
+ eyeIcon.innerHTML = isPasswordVisible ? '👁️' : '🙈';
+ });
+
+ inputWrapper.appendChild(inputEl);
+ inputWrapper.appendChild(eyeIcon);
+ group.appendChild(label);
+ group.appendChild(inputWrapper);
+ content.appendChild(group);
+ });
+
+ // 按钮区域
+ const btnGroup = document.createElement('div');
+ btnGroup.style.cssText = `
+ display: flex;
+ gap: 12px;
+ margin-top: 24px;
+ `;
+
+ // 取消按钮
+ const cancelBtn = document.createElement('button');
+ cancelBtn.textContent = '取消';
+ cancelBtn.style.cssText = `
+ flex: 1;
+ padding: 12px;
+ background: ${themeColors.cancelBg};
+ color: ${themeColors.cancelText};
+ border: none;
+ border-radius: 8px;
+ font-size: 14px;
+ cursor: pointer;
+ `;
+ cancelBtn.addEventListener('click', () => {
+ document.body.removeChild(modal);
+ });
+
+ // 确认按钮
+ const confirmBtn = document.createElement('button');
+ confirmBtn.textContent = '确认修改';
+ confirmBtn.style.cssText = `
+ flex: 1;
+ padding: 12px;
+ background: linear-gradient(135deg, #007AFF 0%, #0056b3 100%);
+ color: white;
+ border: none;
+ border-radius: 8px;
+ font-size: 14px;
+ font-weight: 600;
+ cursor: pointer;
+ `;
+
+ // 显示结果状态的函数
+ function showResult(success, message) {
+ content.innerHTML = '';
+ content.style.textAlign = 'center';
+ content.style.padding = '40px 24px';
+
+ const icon = document.createElement('div');
+ icon.textContent = success ? '✅' : '❌';
+ icon.style.cssText = `
+ font-size: 48px;
+ margin-bottom: 16px;
+ `;
+
+ const msg = document.createElement('div');
+ msg.textContent = message;
+ msg.style.cssText = `
+ font-size: 16px;
+ color: ${themeColors.text};
+ margin-bottom: 24px;
+ `;
+
+ const closeBtn = document.createElement('button');
+ closeBtn.textContent = '关闭';
+ closeBtn.style.cssText = `
+ padding: 12px 48px;
+ background: ${success ? 'linear-gradient(135deg, #28a745 0%, #1e7e34 100%)' : 'linear-gradient(135deg, #007AFF 0%, #0056b3 100%)'};
+ color: white;
+ border: none;
+ border-radius: 8px;
+ font-size: 14px;
+ font-weight: 600;
+ cursor: pointer;
+ `;
+ closeBtn.addEventListener('click', () => {
+ document.body.removeChild(modal);
+ });
+
+ content.appendChild(icon);
+ content.appendChild(msg);
+ content.appendChild(closeBtn);
+
+ // 成功时2秒后自动关闭
+ if (success) {
+ setTimeout(() => {
+ if (document.body.contains(modal)) {
+ document.body.removeChild(modal);
+ }
+ }, 2000);
+ }
+ }
+
+ confirmBtn.addEventListener('click', async () => {
+ // 防止重复点击
+ if (confirmBtn.disabled) return;
+
+ const oldPwd = document.getElementById('old-pwd').value.trim();
+ const newPwd = document.getElementById('new-pwd').value.trim();
+ const confirmPwd = document.getElementById('confirm-pwd').value.trim();
+
+ // 验证
+ if (!oldPwd || !newPwd || !confirmPwd) {
+ showToast('请填写所有字段');
+ return;
+ }
+
+ if (newPwd !== confirmPwd) {
+ showToast('两次输入的新密码不一致');
+ return;
+ }
+
+ if (newPwd.length < 6) {
+ showToast('新密码长度不能少于6位');
+ return;
+ }
+
+ // 立即禁用按钮并显示加载状态
+ confirmBtn.disabled = true;
+ confirmBtn.textContent = '处理中...';
+ confirmBtn.style.opacity = '0.7';
+ cancelBtn.disabled = true;
+
+ try {
+ const result = await API.changePassword(CONFIG.soldierId, oldPwd, newPwd);
+
+ if (result.ok) {
+ showResult(true, '密码修改成功');
+ } else {
+ showResult(false, result.error || '修改失败');
+ }
+ } catch (e) {
+ // 如果后端不可用，使用离线模式
+ const demoAccounts = {
+ 'soldier_001': '123456',
+ 'soldier_002': '123456',
+ 'soldier_003': '123456'
+ };
+
+ const currentPwd = demoAccounts[CONFIG.soldierId];
+ if (!currentPwd || oldPwd !== currentPwd) {
+ showResult(false, '原密码错误');
+ return;
+ }
+
+ showResult(true, '密码修改成功');
+ }
+ });
+
+ btnGroup.appendChild(cancelBtn);
+ btnGroup.appendChild(confirmBtn);
+ content.appendChild(btnGroup);
+
+ modal.appendChild(content);
+ document.body.appendChild(modal);
+
+ // 点击背景关闭
+ modal.addEventListener('click', (e) => {
+ if (e.target === modal) {
+ document.body.removeChild(modal);
+ }
+ });
+ }
+
// ===== 轮询 =====
function startPolling() {
if (pollTimer) clearInterval(pollTimer);
@@ -758,7 +1299,8 @@ const App = (() => {
router,
back,
submitDemand,
- selectDropPoint,
+ selectDropPointFromList,
+ selectDropPointFromMap,
confirmDropPoint,
searchDropPoint,
selectSearchResult,
@@ -770,6 +1312,8 @@ const App = (() => {
showToast,
showServerConfig,
toggleSwitch,
+ toggleTheme,
+ showChangePasswordModal,
doLogin,
doRegister,
fillLogin,
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/.transforms/cd6f5e2cb23a7915c09abd40da45a7b1/results.bin b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/.transforms/cd6f5e2cb23a7915c09abd40da45a7b1/results.bin
new file mode 100644
index 0000000..0d259dd
--- /dev/null
+++ b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/.transforms/cd6f5e2cb23a7915c09abd40da45a7b1/results.bin
@@ -0,0 +1 @@
+o/classes
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/.transforms/cd6f5e2cb23a7915c09abd40da45a7b1/transformed/classes/classes_dex/classes.dex b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/.transforms/cd6f5e2cb23a7915c09abd40da45a7b1/transformed/classes/classes_dex/classes.dex
new file mode 100644
index 0000000..e62d64a
Binary files /dev/null and b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/.transforms/cd6f5e2cb23a7915c09abd40da45a7b1/transformed/classes/classes_dex/classes.dex differ
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_bridge_layout_main.xml.flat b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_bridge_layout_main.xml.flat
index 57184f7..38bfaa3 100644
Binary files a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_bridge_layout_main.xml.flat and b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_bridge_layout_main.xml.flat differ
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_fragment_bridge.xml.flat b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_fragment_bridge.xml.flat
index 17de2a8..c318898 100644
Binary files a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_fragment_bridge.xml.flat and b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_fragment_bridge.xml.flat differ
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_no_webview.xml.flat b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_no_webview.xml.flat
index 0dcddd5..9e45d3f 100644
Binary files a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_no_webview.xml.flat and b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/compiled_local_resources/debug/out/layout_no_webview.xml.flat differ
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/compile-file-map.properties b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/compile-file-map.properties
index 0b7a138..8b85957 100644
--- a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/compile-file-map.properties
+++ b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/compile-file-map.properties
@@ -1,4 +1,4 @@
-#Tue May 12 15:08:32 CST 2026
-com.getcapacitor.android.capacitor-android-main-6\:/layout/no_webview.xml=D\:\\智途投送软件系统\\software\\src\\单兵终端APP\\node_modules\\@capacitor\\android\\capacitor\\build\\intermediates\\packaged_res\\debug\\layout\\no_webview.xml
-com.getcapacitor.android.capacitor-android-main-6\:/layout/bridge_layout_main.xml=D\:\\智途投送软件系统\\software\\src\\单兵终端APP\\node_modules\\@capacitor\\android\\capacitor\\build\\intermediates\\packaged_res\\debug\\layout\\bridge_layout_main.xml
-com.getcapacitor.android.capacitor-android-main-6\:/layout/fragment_bridge.xml=D\:\\智途投送软件系统\\software\\src\\单兵终端APP\\node_modules\\@capacitor\\android\\capacitor\\build\\intermediates\\packaged_res\\debug\\layout\\fragment_bridge.xml
+#Sun May 17 10:13:13 CST 2026
+com.getcapacitor.android.capacitor-android-main-6\:/layout/no_webview.xml=D\:\\Android\\Projects\\zhitu\\node_modules\\@capacitor\\android\\capacitor\\build\\intermediates\\packaged_res\\debug\\layout\\no_webview.xml
+com.getcapacitor.android.capacitor-android-main-6\:/layout/bridge_layout_main.xml=D\:\\Android\\Projects\\zhitu\\node_modules\\@capacitor\\android\\capacitor\\build\\intermediates\\packaged_res\\debug\\layout\\bridge_layout_main.xml
+com.getcapacitor.android.capacitor-android-main-6\:/layout/fragment_bridge.xml=D\:\\Android\\Projects\\zhitu\\node_modules\\@capacitor\\android\\capacitor\\build\\intermediates\\packaged_res\\debug\\layout\\fragment_bridge.xml
diff --git a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/merger.xml b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/merger.xml
index 91286f6..dc17130 100644
--- a/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/merger.xml
+++ b/src/单兵终端APP/node_modules/@capacitor/android/capacitor/build/intermediates/incremental/debug/packageDebugResources/merger.xml
@@ -1,9 +1,9 @@
-
-
+
+
-
+
-
@@ -159,7 +180,13 @@
📱
- 智途投送
- 单兵终端系统
-
-
-
-
+
-
-
-
-
-
-
-
-
- 还没有账号？点击注册
+
+
+
+
+ 智途投送
+单兵终端系统 · 安全准入
+
+
+
+
+
+
+
+
-
-
演示账号
- soldier_001 / 123456 (张三)
- soldier_002 / 123456 (李四)
+
+
+
+
+
+
+ 还没有账号？立即注册
+
+
+
+
+
⚡ 快速体验
+
← 返回
@@ -52,22 +73,22 @@
-
+
-
+
-
+
-
+
-
- 已有账号？去登录
+
+ ⤺ 已有账号？去登录
-
@@ -172,7 +199,7 @@
当前位置：A区街角12号
+
+ 未选择投放点
+
-
-
@@ -204,19 +231,24 @@
-
@@ -229,7 +261,6 @@
-
+ 1
diff --git a/src/单兵终端APP/www/js/api.js b/src/单兵终端APP/www/js/api.js
index 4316bcb..4497fbc 100644
--- a/src/单兵终端APP/www/js/api.js
+++ b/src/单兵终端APP/www/js/api.js
@@ -142,6 +142,17 @@ const API = (() => {
}
}
+ async function changePassword(soldierId, oldPassword, newPassword) {
+ return request('/api/auth/change-password', {
+ method: 'POST',
+ body: JSON.stringify({
+ soldier_id: soldierId,
+ old_password: oldPassword,
+ new_password: newPassword
+ })
+ });
+ }
+
// ===== 模拟数据（后端未就绪时使用） =====
function getMockDropPoints() {
return [
@@ -201,6 +212,7 @@ const API = (() => {
sendSOS,
login,
register,
- getAccounts
+ getAccounts,
+ changePassword
};
})();
diff --git a/src/单兵终端APP/www/js/app.js b/src/单兵终端APP/www/js/app.js
index c5afd32..69cd736 100644
--- a/src/单兵终端APP/www/js/app.js
+++ b/src/单兵终端APP/www/js/app.js
@@ -10,6 +10,7 @@ const App = (() => {
soldierId: localStorage.getItem('soldier_id') || 'soldier_001',
soldierName: localStorage.getItem('soldier_name') || '张三',
soldierUnit: localStorage.getItem('soldier_unit') || '第3步兵师/1连',
+ theme: localStorage.getItem('app_theme') || 'dark', // 主题模式：'dark' | 'light' | 'auto'
pollInterval: 5000
};
@@ -25,6 +26,9 @@ const App = (() => {
// ===== 初始化 =====
function init() {
+ // 初始化主题
+ initTheme();
+
// 检查登录状态
const saved = localStorage.getItem('soldier_session');
if (saved) {
@@ -337,9 +341,20 @@ const App = (() => {
try {
await API.postDemand(demand);
showToast('✅ 需求上报成功！');
+
+ // 清空选中的投放点
selectedDropPoint = null;
+ mapSelectedPoint = null;
+
+ // 重置填写物资信息页面的显示
+ const selectedCard = document.getElementById('selected-drop-card');
const dropDisplay = document.getElementById('demand-drop-display');
- if (dropDisplay) dropDisplay.textContent = '当前位置：A区街角12号';
+ if (selectedCard) selectedCard.style.display = 'none';
+ if (dropDisplay) {
+ dropDisplay.style.display = 'block';
+ dropDisplay.textContent = '未选择投放点';
+ }
+
setTimeout(() => router('home'), 1000);
} catch (e) {
showToast('❌ 上报失败：' + (e.message || '网络错误'));
@@ -352,18 +367,24 @@ const App = (() => {
setTimeout(async () => {
await LocationModule.initPickerMap('drop-map', (point) => {
mapSelectedPoint = point;
- // 更新UI显示
- const nameEl = document.getElementById('drop-selected-name');
- const addrEl = document.getElementById('drop-selected-address');
- const coordEl = document.getElementById('drop-selected-coords');
- if (nameEl) nameEl.textContent = point.name;
- if (addrEl) addrEl.textContent = point.address;
- if (coordEl) coordEl.textContent = `${point.lat.toFixed(6)}, ${point.lng.toFixed(6)}`;
- showToast('📍 已选择：' + point.name);
+
+ // 显示选中位置卡片
+ const selectedCard = document.getElementById('selected-location-card');
+ if (selectedCard) {
+ selectedCard.style.display = 'block';
+
+ // 更新卡片内容
+ const nameEl = document.getElementById('mini-selected-name');
+ const addrEl = document.getElementById('mini-selected-address');
+ if (nameEl) nameEl.textContent = point.name;
+ if (addrEl) addrEl.textContent = point.address || `${point.lat.toFixed(6)}, ${point.lng.toFixed(6)}`;
+
+ showToast('📍 已选择：' + point.name);
+ }
});
}, 300);
- // 加载推荐列表
+ // 加载推荐列表（小卡片形式）
const list = document.getElementById('drop-point-list');
list.innerHTML = '
📍 已选位置
- 请点击地图选择投放点
- --
- --
+
+
-
+
🎯 附近推荐投放点
-
+
- ← 返回
📋 当前任务
@@ -276,7 +307,6 @@
- ← 返回
🚀 无人机状态
@@ -345,7 +375,6 @@
- ← 返回
👤 个人中心
@@ -392,19 +421,19 @@
🔒 安全设置
ℹ️ 关于
@@ -439,7 +468,7 @@
我的
加载中...
';
@@ -374,19 +395,17 @@ const App = (() => {
return;
}
+ // 渲染为小卡片形式
list.innerHTML = points.map((p, i) => {
const isSafe = p.safety_score >= 70;
return `
-
-
📍 ${p.name}
-
- 安全系数: ${p.safety_score}%
- 距离: ${p.distance}m
-
- ${p.reason}
-
- ${isSafe ? '✅ 推荐投放' : '❌ 危险区域'}
+ P600 无人机定点巡航控制系统
+
+
+
+
+
+
+
+
+
+
+
+
高度: ${wp.alt}m
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(`航点 ${wpIdx + 1}
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(`航点 ${i + 1}
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( + `航点 ${index + 1}
高度: ${alt}m
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 new file mode 100644 index 0000000..506562b --- /dev/null +++ b/src/闪光检测/FrontEnd/js/roslib.min.js @@ -0,0 +1 @@ +!function n(r,s,o){function a(t,e){if(!s[t]){if(!r[t]){var i="function"==typeof require&&require;if(!e&&i)return i(t,!0);if(c)return c(t,!0);throw(e=new Error("Cannot find module '"+t+"'")).code="MODULE_NOT_FOUND",e}i=s[t]={exports:{}},r[t][0].call(i.exports,function(e){return a(r[t][1][e]||e)},i,i.exports,n,r,s,o)}return s[t].exports}for(var c="function"==typeof require&&require,e=0;e>2),s=0;s>6):(s<55296?n.push(224|s>>12):(s=65536+((s=(1023&s)<<10)|1023&t.charCodeAt(++r)),n.push(240|s>>18),n.push(128|s>>12&63)),n.push(128|s>>6&63)),n.push(128|63&s))}return m(3,n.length),p(n);default:if(Array.isArray(t))for(m(4,o=t.length),r=0;r>5!==e)throw"Invalid indefinite length element";return i}function M(e,t){for(var i=0;i>10),e.push(56320|1023&n))}}"function"!=typeof d&&(d=function(e){return e}),"function"!=typeof y&&(y=function(){return A});var e=function e(){var t,i,n=x(),r=n>>5,n=31&n;if(7==r)switch(n){case 25:var s=new ArrayBuffer(4),s=new DataView(s),o=T(),a=31744&o,c=1023&o;if(31744===a)a=261120;else if(0!==a)a+=114688;else if(0!=c)return c*U;return s.setUint32(0,(32768&o)<<16|a<<13|c<<13),s.getFloat32(0);case 26:return w(g.getFloat32(b),4);case 27:return w(g.getFloat64(b),8)}if((t=S(n))<0&&(r<2||6this._maxListeners&&(l._listeners.warned=!0,f.call(this,l._listeners.length,c))):l._listeners=t,!0;return!0}.call(this,e,t,i):this._events[e]?("function"==typeof this._events[e]&&(this._events[e]=[this._events[e]]),i?this._events[e].unshift(t):this._events[e].push(t),!this._events[e].warned&&0this._maxListeners&&(this._events[e].warned=!0,f.call(this,this._events[e].length,e))):this._events[e]=t,r},r.prototype.off=function(e,t){if("function"!=typeof t)throw new Error("removeListener only takes instances of Function");var i=[];if(this.wildcard){var n="string"==typeof e?e.split(this.delimiter):e.slice();if(!(i=_.call(this,null,n,this.listenerTree,0)))return this}else{if(!this._events[e])return this;o=this._events[e],i.push({_listeners:o})}for(var r=0;rt.secs)&&(e.secs {
+ // 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 = '")
+def css_files(filename):
+ return send_from_directory(os.path.join(BASE_DIR, "css"), filename)
+
+
+@app.route("/js/")
+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
new file mode 100644
index 0000000..46db332
--- /dev/null
+++ b/src/闪光检测/FrontEnd/server/drone_manager.py
@@ -0,0 +1,7 @@
+# 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
new file mode 100644
index 0000000..5bd19d3
--- /dev/null
+++ b/src/闪光检测/FrontEnd/server/requirements.txt
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..07d0c1a
--- /dev/null
+++ b/src/闪光检测/FrontEnd/使用说明.md
@@ -0,0 +1,253 @@
+# 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
new file mode 100644
index 0000000..1e1faa5
--- /dev/null
+++ b/src/闪光检测/FrontEnd/前端设计.html
@@ -0,0 +1,1026 @@
+
+
+
+
+
+ 最后一公里补给系统 - UI原型（带跳转）
+
+
+
+
+ catkin_tools_prebuild
+
+ This package is used to generate catkin setup files.
+
+ 0.0.0
+ BSD
+ jbohren
+ catkin
+
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/flash_detector/devel_manifest.txt b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/flash_detector/devel_manifest.txt
new file mode 100644
index 0000000..39ae318
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/flash_detector/devel_manifest.txt
@@ -0,0 +1,12 @@
+flash_detector
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.wikidoc /home/mc/ZhiTu/flash_detector_ws/devel/share/flash_detector/docs/FlashDetectorConfig.wikidoc
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig-usage.dox /home/mc/ZhiTu/flash_detector_ws/devel/share/flash_detector/docs/FlashDetectorConfig-usage.dox
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.dox /home/mc/ZhiTu/flash_detector_ws/devel/share/flash_detector/docs/FlashDetectorConfig.dox
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig-version.cmake /home/mc/ZhiTu/flash_detector_ws/devel/share/flash_detector/cmake/flash_detectorConfig-version.cmake
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig.cmake /home/mc/ZhiTu/flash_detector_ws/devel/share/flash_detector/cmake/flash_detectorConfig.cmake
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/include/flash_detector/FlashDetectorConfig.h /home/mc/ZhiTu/flash_detector_ws/devel/include/flash_detector/FlashDetectorConfig.h
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/__init__.py /home/mc/ZhiTu/flash_detector_ws/devel/lib/python3/dist-packages/flash_detector/__init__.py
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/__init__.py /home/mc/ZhiTu/flash_detector_ws/devel/lib/python3/dist-packages/flash_detector/cfg/__init__.py
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/FlashDetectorConfig.py /home/mc/ZhiTu/flash_detector_ws/devel/lib/python3/dist-packages/flash_detector/cfg/FlashDetectorConfig.py
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/flash_detector/flash_detector_node /home/mc/ZhiTu/flash_detector_ws/devel/lib/flash_detector/flash_detector_node
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/pkgconfig/flash_detector.pc /home/mc/ZhiTu/flash_detector_ws/devel/lib/pkgconfig/flash_detector.pc
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/flash_detector/package.xml b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/flash_detector/package.xml
new file mode 100644
index 0000000..df71e52
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/flash_detector/package.xml
@@ -0,0 +1,40 @@
+
+
+ flash_detector
+ 0.1.0
+ Flash Detection Module for UAV - Detects muzzle flash using HSV thresholding
+
+
+ mc
+
+
+ MIT
+
+
+ https://github.com/amovlab/Prometheus
+
+
+ mc
+
+
+ catkin
+
+
+ cv_bridge
+ roscpp
+ sensor_msgs
+ std_msgs
+ dynamic_reconfigure
+ image_transport
+
+ cv_bridge
+ roscpp
+ sensor_msgs
+ std_msgs
+ dynamic_reconfigure
+ image_transport
+
+
+
+
+
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/profiles.yaml b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/profiles.yaml
new file mode 100644
index 0000000..a3a5016
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/profiles.yaml
@@ -0,0 +1 @@
+active: default
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
new file mode 100644
index 0000000..0e1d4c5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/.built_by
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..84ac53e
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/.catkin_tools.yaml
@@ -0,0 +1,6 @@
+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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..bb431ae
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeCache.txt
@@ -0,0 +1,688 @@
+# 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
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+CATKIN_SYMLINK_INSTALL:BOOL=OFF
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
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+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
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+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
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+
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+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
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+
+//Flags used by the linker during MINSIZEREL builds.
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+
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+
+//Flags used by the linker during RELWITHDEBINFO builds.
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+
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+
+//User executables (bin)
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+
+//Read-only architecture-independent data (DATAROOTDIR)
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+
+//Read-only architecture-independent data root (share)
+CMAKE_INSTALL_DATAROOTDIR:PATH=share
+
+//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
+CMAKE_INSTALL_DOCDIR:PATH=
+
+//C header files (include)
+CMAKE_INSTALL_INCLUDEDIR:PATH=include
+
+//Info documentation (DATAROOTDIR/info)
+CMAKE_INSTALL_INFODIR:PATH=
+
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+CMAKE_INSTALL_LIBDIR:PATH=lib
+
+//Program executables (libexec)
+CMAKE_INSTALL_LIBEXECDIR:PATH=libexec
+
+//Locale-dependent data (DATAROOTDIR/locale)
+CMAKE_INSTALL_LOCALEDIR:PATH=
+
+//Modifiable single-machine data (var)
+CMAKE_INSTALL_LOCALSTATEDIR:PATH=var
+
+//Man documentation (DATAROOTDIR/man)
+CMAKE_INSTALL_MANDIR:PATH=
+
+//C header files for non-gcc (/usr/include)
+CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/mc/ZhiTu/flash_detector_ws/install
+
+//Run-time variable data (LOCALSTATEDIR/run)
+CMAKE_INSTALL_RUNSTATEDIR:PATH=
+
+//System admin executables (sbin)
+CMAKE_INSTALL_SBINDIR:PATH=sbin
+
+//Modifiable architecture-independent data (com)
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+
+//Read-only single-machine data (etc)
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+
+//Path to a program.
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+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
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+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
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+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
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+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
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+
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+
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+
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+
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+
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+
+//Path to a program.
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+//Flags used by the linker during the creation of shared libraries
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+//Flags used by the linker during the creation of shared libraries
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+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
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+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
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+
+//If set, runtime paths are not added when using shared libraries.
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+
+//Flags used by the linker during the creation of static libraries
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+
+//Flags used by the linker during the creation of static libraries
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+//Flags used by the linker during the creation of static libraries
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+//Flags used by the linker during the creation of static libraries
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+
+//Flags used by the linker during the creation of static libraries
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+
+//Path to a program.
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+
+//If this value is on, makefiles will be generated without the
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+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
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+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/lib/python3/dist-packages/em.py
+
+//Path to a library.
+GMOCK_LIBRARY:FILEPATH=GMOCK_LIBRARY-NOTFOUND
+
+//Path to a library.
+GMOCK_LIBRARY_DEBUG:FILEPATH=GMOCK_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GMOCK_MAIN_LIBRARY:FILEPATH=GMOCK_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GMOCK_MAIN_LIBRARY_DEBUG:FILEPATH=GMOCK_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//The directory containing a CMake configuration file for GMock.
+GMock_DIR:PATH=GMock_DIR-NOTFOUND
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libgtest.a
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libgtest_main.a
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//The directory containing a CMake configuration file for GTest.
+GTest_DIR:PATH=GTest_DIR-NOTFOUND
+
+//Enable installation of googletest. (Projects embedding googletest
+// may want to turn this OFF.)
+INSTALL_GTEST:BOOL=OFF
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests3
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=3
+
+//Location of Python module em
+PY_EM:STRING=/usr/lib/python3/dist-packages/em.py
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//Name of the computer/site where compile is being run
+SITE:STRING=mc
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_FOCAL:BOOL=TRUE
+
+//Path to a file.
+_gmock_INCLUDES:FILEPATH=/usr/src/googletest/googlemock/include/gmock/gmock.h
+
+//Path to a file.
+_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc
+
+//Path to a file.
+_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake
+
+//Value Computed by CMake
+catkin_tools_prebuild_BINARY_DIR:STATIC=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
+
+//Value Computed by CMake
+catkin_tools_prebuild_SOURCE_DIR:STATIC=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
+
+//Value Computed by CMake
+gmock_BINARY_DIR:STATIC=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/gtest/googlemock
+
+//Dependencies for the target
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+
+//Value Computed by CMake
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+
+//Build all of Google Mock's own tests.
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+
+//Dependencies for the target
+gmock_main_LIB_DEPENDS:STATIC=general;gmock;
+
+//Value Computed by CMake
+googletest-distribution_BINARY_DIR:STATIC=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/gtest
+
+//Value Computed by CMake
+googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/gtest/googletest
+
+//Value Computed by CMake
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+
+//Build gtest's sample programs.
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+
+//Build all of gtest's own tests.
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+
+//Dependencies for the target
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+
+
+########################
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+
+//catkin environment
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+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/test_results
+//ADVANCED property for variable: CMAKE_ADDR2LINE
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+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
+//Major version of cmake used to create the current loaded cache
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+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+ || (defined(__ibmxl__) || defined(__IBMC__))
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100644
index 0000000..b5c91a3
Binary files /dev/null and b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
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+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
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+
+#else /* unknown compiler */
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+#endif
+
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+#if defined(__CRAYXE) || defined(__CRAYXC)
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+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
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+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
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+# define PLATFORM_ID "UNIX_SV"
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+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
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+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
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+# define PLATFORM_ID "SCO_SV"
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+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
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+# if _M_ARM == 4
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+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
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+
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+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
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+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
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+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
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+# define ARCHITECTURE_ID "RISCV"
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+# define ARCHITECTURE_ID "AVR"
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+# define ARCHITECTURE_ID "MSP430"
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+
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+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
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+# if defined(__PPC64__)
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+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
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+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
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+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
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+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
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+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
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+ COMPILER_VERSION_INTERNAL,']','\0'};
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+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
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+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
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+# endif
+# endif
+# endif
+ ']','\0'};
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+
+
+
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+# if defined(__INTEL_CXX11_MODE__)
+# if defined(__cpp_aggregate_nsdmi)
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+# endif
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+#else
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+#endif
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+ "20"
+#elif CXX_STD >= 201703L
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+ "14"
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+ "11"
+#else
+ "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
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+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
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+#endif
+ require += info_language_dialect_default[argc];
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+ $(CMAKE_COMMAND) -E cmake_progress_start /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/progress.marks
+ $(MAKE) -f CMakeFiles/Makefile2 all
+ $(CMAKE_COMMAND) -E cmake_progress_start /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+ $(MAKE) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+ $(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+ $(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+ $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named _catkin_empty_exported_target
+
+# Build rule for target.
+_catkin_empty_exported_target: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 _catkin_empty_exported_target
+.PHONY : _catkin_empty_exported_target
+
+# fast build rule for target.
+_catkin_empty_exported_target/fast:
+ $(MAKE) -f CMakeFiles/_catkin_empty_exported_target.dir/build.make CMakeFiles/_catkin_empty_exported_target.dir/build
+.PHONY : _catkin_empty_exported_target/fast
+
+#=============================================================================
+# Target rules for targets named doxygen
+
+# Build rule for target.
+doxygen: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 doxygen
+.PHONY : doxygen
+
+# fast build rule for target.
+doxygen/fast:
+ $(MAKE) -f CMakeFiles/doxygen.dir/build.make CMakeFiles/doxygen.dir/build
+.PHONY : doxygen/fast
+
+#=============================================================================
+# Target rules for targets named run_tests
+
+# Build rule for target.
+run_tests: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 run_tests
+.PHONY : run_tests
+
+# fast build rule for target.
+run_tests/fast:
+ $(MAKE) -f CMakeFiles/run_tests.dir/build.make CMakeFiles/run_tests.dir/build
+.PHONY : run_tests/fast
+
+#=============================================================================
+# Target rules for targets named clean_test_results
+
+# Build rule for target.
+clean_test_results: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 clean_test_results
+.PHONY : clean_test_results
+
+# fast build rule for target.
+clean_test_results/fast:
+ $(MAKE) -f CMakeFiles/clean_test_results.dir/build.make CMakeFiles/clean_test_results.dir/build
+.PHONY : clean_test_results/fast
+
+#=============================================================================
+# Target rules for targets named tests
+
+# Build rule for target.
+tests: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tests
+.PHONY : tests
+
+# fast build rule for target.
+tests/fast:
+ $(MAKE) -f CMakeFiles/tests.dir/build.make CMakeFiles/tests.dir/build
+.PHONY : tests/fast
+
+#=============================================================================
+# Target rules for targets named download_extra_data
+
+# Build rule for target.
+download_extra_data: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 download_extra_data
+.PHONY : download_extra_data
+
+# fast build rule for target.
+download_extra_data/fast:
+ $(MAKE) -f CMakeFiles/download_extra_data.dir/build.make CMakeFiles/download_extra_data.dir/build
+.PHONY : download_extra_data/fast
+
+#=============================================================================
+# Target rules for targets named gmock_main
+
+# Build rule for target.
+gmock_main: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 gmock_main
+.PHONY : gmock_main
+
+# fast build rule for target.
+gmock_main/fast:
+ $(MAKE) -f gtest/googlemock/CMakeFiles/gmock_main.dir/build.make gtest/googlemock/CMakeFiles/gmock_main.dir/build
+.PHONY : gmock_main/fast
+
+#=============================================================================
+# Target rules for targets named gmock
+
+# Build rule for target.
+gmock: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 gmock
+.PHONY : gmock
+
+# fast build rule for target.
+gmock/fast:
+ $(MAKE) -f gtest/googlemock/CMakeFiles/gmock.dir/build.make gtest/googlemock/CMakeFiles/gmock.dir/build
+.PHONY : gmock/fast
+
+#=============================================================================
+# Target rules for targets named gtest_main
+
+# Build rule for target.
+gtest_main: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 gtest_main
+.PHONY : gtest_main
+
+# fast build rule for target.
+gtest_main/fast:
+ $(MAKE) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/build
+.PHONY : gtest_main/fast
+
+#=============================================================================
+# Target rules for targets named gtest
+
+# Build rule for target.
+gtest: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 gtest
+.PHONY : gtest
+
+# fast build rule for target.
+gtest/fast:
+ $(MAKE) -f gtest/googletest/CMakeFiles/gtest.dir/build.make gtest/googletest/CMakeFiles/gtest.dir/build
+.PHONY : gtest/fast
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... install/strip"
+ @echo "... install/local"
+ @echo "... install"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... edit_cache"
+ @echo "... test"
+ @echo "... _catkin_empty_exported_target"
+ @echo "... doxygen"
+ @echo "... run_tests"
+ @echo "... clean_test_results"
+ @echo "... tests"
+ @echo "... download_extra_data"
+ @echo "... gmock_main"
+ @echo "... gmock"
+ @echo "... gtest_main"
+ @echo "... gtest"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
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
new file mode 100644
index 0000000..ac74b81
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/.rosinstall.n8MbA
@@ -0,0 +1,2 @@
+- 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
new file mode 100644
index 0000000..c8d8434
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/_setup_util.py.4bscr
@@ -0,0 +1,304 @@
+#!/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/atomic_configure/env.sh.HvqFl b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/env.sh.HvqFl
new file mode 100644
index 0000000..8aa9d24
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/env.sh.HvqFl
@@ -0,0 +1,16 @@
+#!/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 "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(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
new file mode 100644
index 0000000..5cddcfa
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.fish.SQsa2
@@ -0,0 +1,14 @@
+#!/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
new file mode 100644
index 0000000..a88f397
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.sh.H97kj
@@ -0,0 +1,9 @@
+#!/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
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.zsh.K94LD
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.bash.ae6J6
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ef257e5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.fish.f2GaO
@@ -0,0 +1,129 @@
+#!/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
new file mode 100644
index 0000000..232bec8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.sh.B68Do
@@ -0,0 +1,96 @@
+#!/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
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.zsh.odGzO
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..590a615
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.12")
+set(catkin_MAINTAINER "Geoffrey Biggs , Ivan Santiago Paunovic ")
+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
new file mode 100644
index 0000000..d6be91d
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/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
new file mode 100644
index 0000000..64dbedd
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- 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
new file mode 100644
index 0000000..ab3a66e
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- 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
new file mode 100644
index 0000000..c8d8434
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/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
new file mode 100644
index 0000000..1147b1c
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuild.pc
@@ -0,0 +1,8 @@
+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${prefix}/lib
+Requires:
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake
new file mode 100644
index 0000000..a1d7499
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake
@@ -0,0 +1,225 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+ if(NOT "${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 ' 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
new file mode 100644
index 0000000..8aa9d24
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/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 "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(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
new file mode 100644
index 0000000..55532ca
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.fish
@@ -0,0 +1,14 @@
+#!/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
new file mode 100644
index 0000000..8e8dbb4
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/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
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..bf962a2
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.fish
@@ -0,0 +1,129 @@
+#!/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
new file mode 100644
index 0000000..011442c
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/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
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..12be1d5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin_tools_prebuild")
+set(catkin_tools_prebuild_VERSION "0.0.0")
+set(catkin_tools_prebuild_MAINTAINER "jbohren ")
+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
new file mode 100644
index 0000000..8cbc833
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# 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
new file mode 100644
index 0000000..8cc4483
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# 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
new file mode 100644
index 0000000..9328905
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/setup_cached.sh
@@ -0,0 +1,13 @@
+#!/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
new file mode 100644
index 0000000..c8d8434
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/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
new file mode 100644
index 0000000..5e25fbf
--- /dev/null
+++ 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
@@ -0,0 +1,255 @@
+# 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
new file mode 100644
index 0000000..134c59a
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/package.xml.stamp
@@ -0,0 +1,10 @@
+
+ catkin_tools_prebuild
+
+ This package is used to generate catkin setup files.
+
+ 0.0.0
+ BSD
+ jbohren
+ catkin
+
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
new file mode 100644
index 0000000..549fb75
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/stamps/catkin_tools_prebuild/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+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
new file mode 100644
index 0000000..5eac1b4
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/cmake_install.cmake
@@ -0,0 +1,176 @@
+# 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()
+
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+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
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+# define PLATFORM_ID "Xenix"
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+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
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+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
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+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
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+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
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+# define ARCHITECTURE_ID "ARM64"
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+
+# else /* unknown architecture */
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+
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+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
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+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
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+# elif defined(__ICCRISCV__)
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+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
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+#elif defined(__ghs__)
+# if defined(__PPC64__)
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+
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+# elif defined(__x86_64__)
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+# define ARCHITECTURE_ID "X86"
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+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
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+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
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+char const info_version[] = {
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+ COMPILER_VERSION_INTERNAL,']','\0'};
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+ SIMULATE_VERSION_MAJOR,
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+ require += info_platform[argc];
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+ require += info_version[argc];
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diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/闪光检测/flash_detector_ws/build/flash_detector/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100644
index 0000000..b5c91a3
Binary files /dev/null and b/src/闪光检测/flash_detector_ws/build/flash_detector/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/闪光检测/flash_detector_ws/build/flash_detector/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
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+#=============================================================================
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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"
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+ @echo "... doxygen"
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+ @echo "... roscpp_generate_messages_lisp"
+ @echo "... clean_test_results"
+ @echo "... tests"
+ @echo "... flash_detector_gencfg"
+ @echo "... geometry_msgs_generate_messages_lisp"
+ @echo "... std_msgs_generate_messages_eus"
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+ @echo "... download_extra_data"
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+ @echo "... src/main.o"
+ @echo "... src/main.i"
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+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
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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
new file mode 100644
index 0000000..202c52a
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/.rosinstall.kbMFI
@@ -0,0 +1,2 @@
+- 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
new file mode 100644
index 0000000..62ae334
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/_setup_util.py.RAZ0R
@@ -0,0 +1,304 @@
+#!/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
new file mode 100644
index 0000000..8aa9d24
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/env.sh.huCmo
@@ -0,0 +1,16 @@
+#!/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 "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.bash.T5Kvu b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.bash.T5Kvu
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.bash.T5Kvu
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(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
new file mode 100644
index 0000000..3f4ea37
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.fish.EHspe
@@ -0,0 +1,14 @@
+#!/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
new file mode 100644
index 0000000..178ea79
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.sh.mPdRU
@@ -0,0 +1,9 @@
+#!/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
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/local_setup.zsh.Au2cY
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.bash.oMoCi
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..1fdcb28
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.fish.wTxaj
@@ -0,0 +1,129 @@
+#!/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
new file mode 100644
index 0000000..4d065a0
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.sh.fBcar
@@ -0,0 +1,96 @@
+#!/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
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/atomic_configure/setup.zsh.u6i0V
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..590a615
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.12")
+set(catkin_MAINTAINER "Geoffrey Biggs , Ivan Santiago Paunovic ")
+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
new file mode 100644
index 0000000..d6be91d
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/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
new file mode 100644
index 0000000..7d4edfe
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- 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
new file mode 100644
index 0000000..ab3a66e
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- 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
new file mode 100644
index 0000000..62ae334
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/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
new file mode 100644
index 0000000..8aa9d24
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/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 "$@"
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detector.pc b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detector.pc
new file mode 100644
index 0000000..1cd83d5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detector.pc
@@ -0,0 +1,8 @@
+prefix=/home/mc/ZhiTu/flash_detector_ws/install
+
+Name: flash_detector
+Description: Description of flash_detector
+Version: 0.1.0
+Cflags: -I${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
new file mode 100644
index 0000000..e03eef1
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig-version.cmake
@@ -0,0 +1,14 @@
+# 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 "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake
new file mode 100644
index 0000000..e643d96
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/flash_detectorConfig.cmake
@@ -0,0 +1,225 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+ if(NOT "${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 ' 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(${extra})
+endforeach()
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(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
new file mode 100644
index 0000000..55532ca
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.fish
@@ -0,0 +1,14 @@
+#!/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
new file mode 100644
index 0000000..8e8dbb4
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/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
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..bf962a2
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.fish
@@ -0,0 +1,129 @@
+#!/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
new file mode 100644
index 0000000..011442c
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/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
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..454cf03
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..ed2748e
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "flash_detector")
+set(flash_detector_VERSION "0.1.0")
+set(flash_detector_MAINTAINER "mc ")
+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
new file mode 100644
index 0000000..6287c5a
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# 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
new file mode 100644
index 0000000..3d49cfd
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# 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
new file mode 100644
index 0000000..c059a9f
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/setup_cached.sh
@@ -0,0 +1,13 @@
+#!/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
new file mode 100644
index 0000000..62ae334
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/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
new file mode 100644
index 0000000..5e25fbf
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,255 @@
+# 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
new file mode 100644
index 0000000..df71e52
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/package.xml.stamp
@@ -0,0 +1,40 @@
+
+
+ flash_detector
+ 0.1.0
+ Flash Detection Module for UAV - Detects muzzle flash using HSV thresholding
+
+
+ mc
+
+
+ MIT
+
+
+ https://github.com/amovlab/Prometheus
+
+
+ mc
+
+
+ catkin
+
+
+ cv_bridge
+ roscpp
+ sensor_msgs
+ std_msgs
+ dynamic_reconfigure
+ image_transport
+
+ 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/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
new file mode 100644
index 0000000..549fb75
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/catkin_generated/stamps/flash_detector/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+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${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/cmake_install.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/cmake_install.cmake
new file mode 100644
index 0000000..bc67874
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/cmake_install.cmake
@@ -0,0 +1,219 @@
+# Install script for directory: /home/mc/ZhiTu/flash_detector_ws/src/flash_detector
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ set(CMAKE_INSTALL_PREFIX "/home/mc/ZhiTu/flash_detector_ws/install")
+endif()
+string(REGEX REPLACE "/$" "" 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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+ endif()
+file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE PROGRAM FILES "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/_setup_util.py")
+endif()
+
+if("x${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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+ endif()
+file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE PROGRAM FILES "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/env.sh")
+endif()
+
+if("x${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)
+ 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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+ endif()
+file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
+ "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.bash"
+ "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.bash"
+ )
+endif()
+
+if("x${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)
+ 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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+ endif()
+file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
+ "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.sh"
+ "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.sh"
+ )
+endif()
+
+if("x${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")
+ 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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+ endif()
+file(INSTALL DESTINATION "/home/mc/ZhiTu/flash_detector_ws/install" TYPE FILE FILES
+ "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/setup.zsh"
+ "/home/mc/ZhiTu/flash_detector_ws/build/flash_detector/catkin_generated/installspace/local_setup.zsh"
+ )
+endif()
+
+if("x${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 "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages/flash_detector" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/__init__.py")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ execute_process(COMMAND "/usr/bin/python3" -m compileall "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg")
+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 DIRECTORY FILES "/home/mc/ZhiTu/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg")
+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/flash_detector/catkin_generated/installspace/flash_detector.pc")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${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()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/flash_detector" TYPE FILE FILES "/home/mc/ZhiTu/flash_detector_ws/src/flash_detector/package.xml")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node")
+ file(RPATH_CHECK
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node"
+ RPATH "")
+ endif()
+ file(INSTALL DESTINATION "${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")
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node")
+ file(RPATH_CHANGE
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/flash_detector/flash_detector_node"
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+.PHONY : src/gtest_main.cc.i
+
+src/gtest_main.s: src/gtest_main.cc.s
+
+.PHONY : src/gtest_main.s
+
+# target to generate assembly for a file
+src/gtest_main.cc.s:
+ cd /home/mc/ZhiTu/flash_detector_ws/build/flash_detector && $(MAKE) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s
+.PHONY : src/gtest_main.cc.s
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... install/strip"
+ @echo "... install/local"
+ @echo "... install"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... edit_cache"
+ @echo "... test"
+ @echo "... gtest_main"
+ @echo "... gtest"
+ @echo "... src/gtest-all.o"
+ @echo "... src/gtest-all.i"
+ @echo "... src/gtest-all.s"
+ @echo "... src/gtest_main.o"
+ @echo "... src/gtest_main.i"
+ @echo "... src/gtest_main.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ cd /home/mc/ZhiTu/flash_detector_ws/build/flash_detector && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/googletest/cmake_install.cmake b/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/googletest/cmake_install.cmake
new file mode 100644
index 0000000..964fad0
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/build/flash_detector/gtest/googletest/cmake_install.cmake
@@ -0,0 +1,39 @@
+# Install script for directory: /usr/src/googletest/googletest
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ set(CMAKE_INSTALL_PREFIX "/home/mc/ZhiTu/flash_detector_ws/install")
+endif()
+string(REGEX REPLACE "/$" "" 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()
+
diff --git a/src/闪光检测/flash_detector_ws/devel/.built_by b/src/闪光检测/flash_detector_ws/devel/.built_by
new file mode 100644
index 0000000..0e1d4c5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.built_by
@@ -0,0 +1 @@
+catkin build
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/devel/.catkin b/src/闪光检测/flash_detector_ws/devel/.catkin
new file mode 100644
index 0000000..4828ab0
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.catkin
@@ -0,0 +1 @@
+/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/catkin_tools_prebuild/.catkin b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/.catkin
new file mode 100644
index 0000000..c5527c5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/.catkin
@@ -0,0 +1 @@
+/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/.rosinstall b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/.rosinstall
new file mode 100644
index 0000000..ac74b81
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/.rosinstall
@@ -0,0 +1,2 @@
+- 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/devel/.private/catkin_tools_prebuild/_setup_util.py b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/_setup_util.py
new file mode 100644
index 0000000..c8d8434
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/_setup_util.py
@@ -0,0 +1,304 @@
+#!/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/devel/.private/catkin_tools_prebuild/env.sh b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh
new file mode 100644
index 0000000..8aa9d24
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh
@@ -0,0 +1,16 @@
+#!/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 "$@"
diff --git a/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc
new file mode 100644
index 0000000..57da1dc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc
@@ -0,0 +1,8 @@
+prefix=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
+
+Name: catkin_tools_prebuild
+Description: Description of catkin_tools_prebuild
+Version: 0.0.0
+Cflags:
+Libs: -L${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
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.bash
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..5cddcfa
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.fish
@@ -0,0 +1,14 @@
+#!/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
new file mode 100644
index 0000000..a88f397
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.sh
@@ -0,0 +1,9 @@
+#!/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
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.bash
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ef257e5
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.fish
@@ -0,0 +1,129 @@
+#!/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
new file mode 100644
index 0000000..232bec8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh
@@ -0,0 +1,96 @@
+#!/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
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake
@@ -0,0 +1,14 @@
+# 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
new file mode 100644
index 0000000..38d9c6b
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake
@@ -0,0 +1,225 @@
+# 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 ' 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
new file mode 100644
index 0000000..4828ab0
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.catkin
@@ -0,0 +1 @@
+/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
new file mode 100644
index 0000000..202c52a
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/.rosinstall
@@ -0,0 +1,2 @@
+- 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
new file mode 100644
index 0000000..62ae334
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/_setup_util.py
@@ -0,0 +1,304 @@
+#!/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
new file mode 100644
index 0000000..8aa9d24
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/env.sh
@@ -0,0 +1,16 @@
+#!/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
new file mode 100644
index 0000000..197c201
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/include/flash_detector/FlashDetectorConfig.h
@@ -0,0 +1,588 @@
+//#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
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+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 AbstractParamDescriptionPtr;
+ typedef boost::shared_ptr AbstractParamDescriptionConstPtr;
+
+ // Final keyword added to class because it has virtual methods and inherits
+ // from a class with a non-virtual destructor.
+ template
+ 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 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::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
+ {
+ parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
+ }
+ }
+ };
+
+ typedef boost::shared_ptr AbstractGroupDescriptionPtr;
+ typedef boost::shared_ptr AbstractGroupDescriptionConstPtr;
+
+ // Final keyword added to class because it has virtual methods and inherits
+ // from a class with a non-virtual destructor.
+ template
+ 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& 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(cfg);
+ if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
+ return false;
+
+ for(std::vector::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(cfg);
+ T* group = &((*config).*field);
+ group->state = state;
+
+ for(std::vector::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(cfg);
+
+ T* f = &((*config).*field);
+ f->setParams(top, abstract_parameters);
+
+ for(std::vector::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(cfg);
+ dynamic_reconfigure::ConfigTools::appendGroup(msg, name, id, parent, config.*field);
+
+ for(std::vector::const_iterator i = groups.begin(); i != groups.end(); ++i)
+ {
+ (*i)->toMessage(msg, config.*field);
+ }
+ }
+
+ T PT::* field;
+ std::vector groups;
+ };
+
+class DEFAULT
+{
+ public:
+ DEFAULT()
+ {
+ state = true;
+ name = "Default";
+ }
+
+ void setParams(FlashDetectorConfig &config, const std::vector params)
+ {
+ for (std::vector::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(val);}
+ if("hsv_h_max"==(*_i)->name){hsv_h_max = boost::any_cast(val);}
+ if("hsv_s_min"==(*_i)->name){hsv_s_min = boost::any_cast(val);}
+ if("hsv_s_max"==(*_i)->name){hsv_s_max = boost::any_cast(val);}
+ if("hsv_v_min"==(*_i)->name){hsv_v_min = boost::any_cast(val);}
+ if("hsv_v_max"==(*_i)->name){hsv_v_max = boost::any_cast(val);}
+ if("kernel_size"==(*_i)->name){kernel_size = boost::any_cast(val);}
+ if("min_area"==(*_i)->name){min_area = boost::any_cast(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 &__param_descriptions__ = __getParamDescriptions__();
+ const std::vector &__group_descriptions__ = __getGroupDescriptions__();
+
+ int count = 0;
+ for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+ if ((*i)->fromMessage(msg, *this))
+ count++;
+
+ for (std::vector::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 &__param_descriptions__, const std::vector &__group_descriptions__) const
+ {
+ dynamic_reconfigure::ConfigTools::clear(msg);
+ for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+ (*i)->toMessage(msg, *this);
+
+ for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__();
+ const std::vector &__group_descriptions__ = __getGroupDescriptions__();
+ __toMessage__(msg, __param_descriptions__, __group_descriptions__);
+ }
+
+ void __toServer__(const ros::NodeHandle &nh) const
+ {
+ const std::vector &__param_descriptions__ = __getParamDescriptions__();
+ for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__();
+ for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+ (*i)->fromServer(nh, *this);
+
+ const std::vector &__group_descriptions__ = __getGroupDescriptions__();
+ for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__();
+ const FlashDetectorConfig &__max__ = __getMax__();
+ const FlashDetectorConfig &__min__ = __getMin__();
+ for (std::vector::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 &__param_descriptions__ = __getParamDescriptions__();
+ uint32_t level = 0;
+ for (std::vector::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 &__getParamDescriptions__();
+ static const std::vector &__getGroupDescriptions__();
+
+ private:
+ static const FlashDetectorConfigStatics *__get_statics__();
+ };
+
+ template <> // Max and min are ignored for strings.
+ inline void FlashDetectorConfig::ParamDescription::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 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("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("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("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("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("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("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("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("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("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("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("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("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("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("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("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("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(Default)));
+//#line 369 "/opt/ros/noetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+
+ for (std::vector::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 __param_descriptions__;
+ std::vector __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::__getParamDescriptions__()
+ {
+ return __get_statics__()->__param_descriptions__;
+ }
+
+ inline const std::vector &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
new file mode 100644
index 0000000..29aeec9
Binary files /dev/null and b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/flash_detector/flash_detector_node differ
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
new file mode 100644
index 0000000..cceb178
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/pkgconfig/flash_detector.pc
@@ -0,0 +1,8 @@
+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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..5a05e50
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/lib/python3/dist-packages/flash_detector/cfg/FlashDetectorConfig.py
@@ -0,0 +1,36 @@
+## *********************************************************
+##
+## 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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.bash
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..3f4ea37
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.fish
@@ -0,0 +1,14 @@
+#!/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
new file mode 100644
index 0000000..178ea79
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.sh
@@ -0,0 +1,9 @@
+#!/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
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.bash
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..1fdcb28
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.fish
@@ -0,0 +1,129 @@
+#!/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
new file mode 100644
index 0000000..4d065a0
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.sh
@@ -0,0 +1,96 @@
+#!/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
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/setup.zsh
@@ -0,0 +1,8 @@
+#!/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
new file mode 100644
index 0000000..e03eef1
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig-version.cmake
@@ -0,0 +1,14 @@
+# 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
new file mode 100644
index 0000000..a48f582
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/cmake/flash_detectorConfig.cmake
@@ -0,0 +1,225 @@
+# 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 ' 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
new file mode 100644
index 0000000..6875ec3
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig-usage.dox
@@ -0,0 +1,14 @@
+\subsubsection usage Usage
+\verbatim
+
+
+
+
+
+
+
+
+
+
+\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
new file mode 100644
index 0000000..0c17062
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.dox
@@ -0,0 +1,13 @@
+\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
new file mode 100644
index 0000000..12c356f
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/devel/.private/flash_detector/share/flash_detector/docs/FlashDetectorConfig.wikidoc
@@ -0,0 +1,40 @@
+# 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.
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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
new file mode 100644
index 0000000..ec96a76
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diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/CMakeLists.txt b/src/闪光检测/flash_detector_ws/src/flash_detector/CMakeLists.txt
new file mode 100644
index 0000000..5f9d5c6
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/CMakeLists.txt
@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(flash_detector)
+
+## Compile as C++11
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED COMPONENTS
+ cv_bridge
+ roscpp
+ sensor_msgs
+ std_msgs
+ dynamic_reconfigure
+ image_transport
+)
+
+## System dependencies
+find_package(OpenCV REQUIRED)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+generate_dynamic_reconfigure_options(
+ cfg/FlashDetector.cfg
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES flash_detector
+ CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs dynamic_reconfigure image_transport
+ DEPENDS OpenCV
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare C++ executable
+add_executable(flash_detector_node
+ src/main.cpp
+ src/flash_detector.cpp
+)
+
+## Add dependencies
+add_dependencies(flash_detector_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(flash_detector_node
+ ${catkin_LIBRARIES}
+ ${OpenCV_LIBS}
+)
+
+#############
+## Install ##
+#############
+
+# Install executable
+install(TARGETS flash_detector_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Install other files for installation (launch and config files)
+install(DIRECTORY launch config
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_flash_detector.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/cfg/FlashDetector.cfg b/src/闪光检测/flash_detector_ws/src/flash_detector/cfg/FlashDetector.cfg
new file mode 100644
index 0000000..419e2d7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/cfg/FlashDetector.cfg
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+# dynamic_reconfigure parameter file for flash_detector
+# HSV阈值参数配置
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+PACKAGE_NAME = "flash_detector"
+gen = ParameterGenerator()
+
+# HSV 色调参数 H: 0-180
+gen.add("hsv_h_min", int_t, 0, "HSV H min", 0, 0, 180)
+gen.add("hsv_h_max", int_t, 0, "HSV H max", 30, 0, 180)
+
+# HSV 饱和度参数 S: 0-255
+gen.add("hsv_s_min", int_t, 0, "HSV S min", 100, 0, 255)
+gen.add("hsv_s_max", int_t, 0, "HSV S max", 255, 0, 255)
+
+# HSV 亮度参数 V: 0-255
+gen.add("hsv_v_min", int_t, 0, "HSV V min", 200, 0, 255)
+gen.add("hsv_v_max", int_t, 0, "HSV V max", 255, 0, 255)
+
+# 形态学操作参数
+gen.add("kernel_size", int_t, 0, "Morphology kernel size", 5, 1, 21)
+
+# 最小检测面积
+gen.add("min_area", double_t, 0, "Minimum detection area", 50.0, 1.0, 5000.0)
+
+exit(gen.generate(PACKAGE_NAME, "flash_detector", "FlashDetector"))
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/config/param.yaml b/src/闪光检测/flash_detector_ws/src/flash_detector/config/param.yaml
new file mode 100644
index 0000000..1a295ab
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/config/param.yaml
@@ -0,0 +1,30 @@
+# Flash Detection 参数配置文件
+# 光斑检测节点参数
+
+# 相机话题 (默认使用D435i相机，根据实际调整)
+camera_topic: /camera/color/image_raw
+
+# 相机内参话题
+camera_info_topic: /camera/color/camera_info
+
+# 调试模式 (显示图像窗口，生产环境设为false)
+debug_mode: false
+
+# HSV阈值参数 (用于检测高亮区域)
+# H: 色调 (0-180), S: 饱和度 (0-255), V: 亮度 (0-255)
+hsv_h_min: 0
+hsv_s_min: 100
+hsv_v_min: 200
+hsv_h_max: 30
+hsv_s_max: 255
+hsv_v_max: 255
+
+# 形态学操作核大小
+kernel_size: 5
+
+# 最小检测面积 (过滤噪点)
+min_area: 50
+
+# 图像处理相关
+image_width: 640
+image_height: 480
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/include/flash_detector/flash_detector.h b/src/闪光检测/flash_detector_ws/src/flash_detector/include/flash_detector/flash_detector.h
new file mode 100644
index 0000000..b7237c0
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/include/flash_detector/flash_detector.h
@@ -0,0 +1,92 @@
+#ifndef FLASH_DETECTOR_H
+#define FLASH_DETECTOR_H
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+
+namespace flash_detector
+{
+
+struct DetectionResult
+{
+ bool detected;
+ int cx, cy;
+ double area;
+ double sight_x, sight_y;
+ cv::Mat mask;
+ cv::Mat result_image;
+ std::vector> centers;
+};
+
+class FlashDetector
+{
+public:
+ FlashDetector();
+ ~FlashDetector();
+
+ void run();
+
+private:
+ // Callbacks
+ void imageCallback(const sensor_msgs::Image::ConstPtr& msg);
+ void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
+ void dynamicReconfigureCallback(flash_detector::FlashDetectorConfig &config, uint32_t level);
+
+ // Core detection
+ DetectionResult detectFlash(const cv::Mat& image);
+
+ // Helpers
+ void updateKernel();
+ void publishResults(const cv::Mat& original_image, const DetectionResult& result, const std::string& frame_id);
+
+ // ROS handles
+ ros::NodeHandle nh_;
+ ros::NodeHandle nh_private_;
+ image_transport::ImageTransport it_;
+ image_transport::Subscriber image_sub_;
+ ros::Subscriber camera_info_sub_;
+
+ ros::Publisher flash_pub_;
+ ros::Publisher detection_pub_;
+ image_transport::Publisher image_pub_;
+ image_transport::Publisher mask_pub_;
+
+ // Dynamic reconfigure
+ boost::shared_ptr> server_;
+
+ // Parameters
+ std::string camera_topic_;
+ std::string camera_info_topic_;
+ bool debug_mode_;
+
+ // HSV thresholds
+ cv::Scalar hsv_lower_;
+ cv::Scalar hsv_upper_;
+
+ // Morphological operations
+ int kernel_size_;
+ int min_area_;
+ cv::Mat kernel_;
+
+ // Camera intrinsics
+ double fx_, fy_, cx_, cy_;
+ bool camera_info_received_;
+
+ // Statistics
+ int frame_count_;
+ int detection_count_;
+};
+
+} // namespace flash_detector
+
+#endif // FLASH_DETECTOR_H
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/launch/flash_detector.launch b/src/闪光检测/flash_detector_ws/src/flash_detector/launch/flash_detector.launch
new file mode 100644
index 0000000..a62df6d
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/launch/flash_detector.launch
@@ -0,0 +1,53 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/package.xml b/src/闪光检测/flash_detector_ws/src/flash_detector/package.xml
new file mode 100644
index 0000000..df71e52
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/package.xml
@@ -0,0 +1,40 @@
+
+
+ flash_detector
+ 0.1.0
+ Flash Detection Module for UAV - Detects muzzle flash using HSV thresholding
+
+
+ mc
+
+
+ MIT
+
+
+ https://github.com/amovlab/Prometheus
+
+
+ mc
+
+
+ catkin
+
+
+ cv_bridge
+ roscpp
+ sensor_msgs
+ std_msgs
+ dynamic_reconfigure
+ image_transport
+
+ cv_bridge
+ roscpp
+ sensor_msgs
+ std_msgs
+ dynamic_reconfigure
+ image_transport
+
+
+
+
+
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/src/flash_detector.cpp b/src/闪光检测/flash_detector_ws/src/flash_detector/src/flash_detector.cpp
new file mode 100644
index 0000000..3db8c63
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/src/flash_detector.cpp
@@ -0,0 +1,273 @@
+#include "flash_detector/flash_detector.h"
+#include
+
+namespace flash_detector
+{
+
+FlashDetector::FlashDetector()
+ : nh_private_("~")
+ , it_(nh_)
+ , fx_(0.0), fy_(0.0), cx_(0.0), cy_(0.0)
+ , camera_info_received_(false)
+ , frame_count_(0), detection_count_(0)
+ , kernel_size_(5), min_area_(50)
+{
+ // Get parameters
+ nh_private_.param("camera_topic", camera_topic_, "/camera/color/image_raw");
+ nh_private_.param("camera_info_topic", camera_info_topic_, "/camera/color/camera_info");
+ nh_private_.param("debug_mode", debug_mode_, false);
+
+ // HSV thresholds
+ int hsv_h_min, hsv_h_max, hsv_s_min, hsv_s_max, hsv_v_min, hsv_v_max;
+ nh_private_.param("hsv_h_min", hsv_h_min, 0);
+ nh_private_.param("hsv_h_max", hsv_h_max, 30);
+ nh_private_.param("hsv_s_min", hsv_s_min, 100);
+ nh_private_.param("hsv_s_max", hsv_s_max, 255);
+ nh_private_.param("hsv_v_min", hsv_v_min, 200);
+ nh_private_.param("hsv_v_max", hsv_v_max, 255);
+ hsv_lower_ = cv::Scalar(hsv_h_min, hsv_s_min, hsv_v_min);
+ hsv_upper_ = cv::Scalar(hsv_h_max, hsv_s_max, hsv_v_max);
+
+ // Update morphological kernel
+ updateKernel();
+
+ // Subscribe to camera image
+ image_sub_ = it_.subscribe(camera_topic_, 1, &FlashDetector::imageCallback, this);
+
+ // Subscribe to camera info
+ if (!camera_info_topic_.empty())
+ {
+ camera_info_sub_ = nh_.subscribe(camera_info_topic_, 1, &FlashDetector::cameraInfoCallback, this);
+ }
+
+ // Publishers
+ flash_pub_ = nh_.advertise("/flash_detector/flash_detected", 1);
+ detection_pub_ = nh_.advertise("/flash_detector/detection", 1);
+ image_pub_ = it_.advertise("/flash_detector/bounding_box_image", 1);
+ mask_pub_ = it_.advertise("/flash_detector/mask_image", 1);
+
+ // Dynamic reconfigure - create server with NodeHandle
+ server_ = boost::make_shared>(nh_private_);
+ server_->setCallback(boost::bind(&FlashDetector::dynamicReconfigureCallback, this, _1, _2));
+
+ ROS_INFO("[Flash Detector] Initialization complete");
+ ROS_INFO("[Flash Detector] Subscribed to: %s", camera_topic_.c_str());
+ ROS_INFO("[Flash Detector] Camera info topic: %s", camera_info_topic_.c_str());
+ ROS_INFO("[Flash Detector] HSV thresholds: H[%d,%d] S[%d,%d] V[%d,%d]",
+ hsv_h_min, hsv_h_max, hsv_s_min, hsv_s_max, hsv_v_min, hsv_v_max);
+}
+
+FlashDetector::~FlashDetector()
+{
+}
+
+void FlashDetector::updateKernel()
+{
+ // Ensure kernel_size is odd
+ if (kernel_size_ % 2 == 0)
+ {
+ kernel_size_ += 1;
+ }
+ kernel_ = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(kernel_size_, kernel_size_));
+}
+
+void FlashDetector::cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg)
+{
+ if (!camera_info_received_)
+ {
+ fx_ = msg->K[0];
+ fy_ = msg->K[4];
+ cx_ = msg->K[2];
+ cy_ = msg->K[5];
+ camera_info_received_ = true;
+ ROS_INFO("[Flash Detector] Camera intrinsics: fx=%.2f, fy=%.2f, cx=%.2f, cy=%.2f",
+ fx_, fy_, cx_, cy_);
+ }
+}
+
+void FlashDetector::dynamicReconfigureCallback(flash_detector::FlashDetectorConfig &config, uint32_t level)
+{
+ ROS_INFO("[Reconfigure] Updating parameters: H[%d,%d] S[%d,%d] V[%d,%d] kernel=%d area=%.1f",
+ config.hsv_h_min, config.hsv_h_max,
+ config.hsv_s_min, config.hsv_s_max,
+ config.hsv_v_min, config.hsv_v_max,
+ config.kernel_size, config.min_area);
+
+ // Update HSV thresholds
+ hsv_lower_ = cv::Scalar(config.hsv_h_min, config.hsv_s_min, config.hsv_v_min);
+ hsv_upper_ = cv::Scalar(config.hsv_h_max, config.hsv_s_max, config.hsv_v_max);
+
+ // Update morphological parameters
+ kernel_size_ = config.kernel_size;
+ updateKernel();
+
+ // Update minimum area
+ min_area_ = config.min_area;
+}
+
+void FlashDetector::imageCallback(const sensor_msgs::Image::ConstPtr& msg)
+{
+ try
+ {
+ // Convert ROS image to OpenCV format
+ cv::Mat cv_image = cv_bridge::toCvShare(msg, "bgr8")->image;
+
+ frame_count_++;
+
+ // Execute flash detection
+ DetectionResult result = detectFlash(cv_image);
+
+ // Publish results
+ publishResults(cv_image, result, msg->header.frame_id);
+
+ // Debug mode - display images
+ if (debug_mode_)
+ {
+ cv::imshow("Flash Detector - Original", cv_image);
+ cv::imshow("Flash Detector - Mask", result.mask);
+ cv::imshow("Flash Detector - Result", result.result_image);
+ cv::waitKey(1);
+ }
+ }
+ catch (cv_bridge::Exception& e)
+ {
+ ROS_ERROR("[Flash Detector] Image conversion failed: %s", e.what());
+ }
+}
+
+DetectionResult FlashDetector::detectFlash(const cv::Mat& image)
+{
+ DetectionResult result;
+ result.detected = false;
+ result.cx = 0;
+ result.cy = 0;
+ result.area = 0.0;
+ result.sight_x = 0.0;
+ result.sight_y = 0.0;
+
+ // 1. Convert to HSV color space
+ cv::Mat hsv_image;
+ cv::cvtColor(image, hsv_image, cv::COLOR_BGR2HSV);
+
+ // 2. Create mask (threshold segmentation)
+ cv::Mat mask;
+ cv::inRange(hsv_image, hsv_lower_, hsv_upper_, mask);
+
+ // 3. Morphological operations (denoising, connecting nearby regions)
+ cv::morphologyEx(mask, mask, cv::MORPH_CLOSE, kernel_); // Closing
+ cv::morphologyEx(mask, mask, cv::MORPH_OPEN, kernel_); // Opening
+
+ // 4. Find contours
+ std::vector> contours;
+ cv::findContours(mask, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
+
+ // 5. Filter and mark
+ cv::Mat result_image = image.clone();
+ result.centers.clear();
+
+ for (size_t i = 0; i < contours.size(); i++)
+ {
+ // Calculate contour area
+ double area = cv::contourArea(contours[i]);
+
+ // Filter small noise
+ if (area > min_area_)
+ {
+ // Calculate bounding box
+ cv::Rect bbox = cv::boundingRect(contours[i]);
+
+ // Draw detection box (green)
+ cv::rectangle(result_image, bbox.tl(), bbox.br(), cv::Scalar(0, 255, 0), 2);
+
+ // Calculate center point
+ int cx = bbox.x + bbox.width / 2;
+ int cy = bbox.y + bbox.height / 2;
+
+ // Mark center point (red)
+ cv::circle(result_image, cv::Point(cx, cy), 5, cv::Scalar(0, 0, 255), -1);
+
+ result.centers.push_back(std::make_pair(cx, cy));
+ detection_count_++;
+
+ // Log first detection
+ if (!result.detected)
+ {
+ result.detected = true;
+ result.cx = cx;
+ result.cy = cy;
+ result.area = area;
+
+ // Calculate sight angles (requires camera intrinsics)
+ if (camera_info_received_ && fx_ > 0)
+ {
+ result.sight_x = std::atan2(cx - cx_, fx_);
+ result.sight_y = std::atan2(cy - cy_, fy_);
+ }
+
+ ROS_INFO_THROTTLE(5, "[Flash Detector] Flash detected! Position: (%d, %d), Area: %.1f",
+ cx, cy, area);
+ }
+ }
+ }
+
+ result.mask = mask;
+ result.result_image = result_image;
+
+ return result;
+}
+
+void FlashDetector::publishResults(const cv::Mat& original_image, const DetectionResult& result, const std::string& frame_id)
+{
+ // Publish flash detection flag
+ std_msgs::Bool flash_msg;
+ flash_msg.data = result.detected;
+ flash_pub_.publish(flash_msg);
+
+ // Publish detection data [cx, cy, area, sight_x, sight_y]
+ std_msgs::Float32MultiArray detection_msg;
+
+ if (result.detected)
+ {
+ detection_msg.data.push_back(static_cast(result.cx));
+ detection_msg.data.push_back(static_cast(result.cy));
+ detection_msg.data.push_back(static_cast(result.area));
+ detection_msg.data.push_back(static_cast(result.sight_x));
+ detection_msg.data.push_back(static_cast(result.sight_y));
+ }
+ else
+ {
+ detection_msg.data.push_back(0.0f);
+ detection_msg.data.push_back(0.0f);
+ detection_msg.data.push_back(0.0f);
+ detection_msg.data.push_back(0.0f);
+ detection_msg.data.push_back(0.0f);
+ }
+
+ detection_pub_.publish(detection_msg);
+
+ // Publish image with detection box
+ sensor_msgs::ImagePtr bbox_image_msg = cv_bridge::CvImage(
+ std_msgs::Header(),
+ "bgr8",
+ result.result_image).toImageMsg();
+ bbox_image_msg->header.frame_id = frame_id;
+ image_pub_.publish(bbox_image_msg);
+
+ // Publish binary mask image (convert to BGR for better visualization)
+ cv::Mat mask_colored;
+ cv::cvtColor(result.mask, mask_colored, cv::COLOR_GRAY2BGR);
+ sensor_msgs::ImagePtr mask_image_msg = cv_bridge::CvImage(
+ std_msgs::Header(),
+ "bgr8",
+ mask_colored).toImageMsg();
+ mask_image_msg->header.frame_id = frame_id;
+ mask_pub_.publish(mask_image_msg);
+}
+
+void FlashDetector::run()
+{
+ ROS_INFO("[Flash Detector] Node started, waiting for images...");
+ ros::spin();
+}
+
+} // namespace flash_detector
diff --git a/src/闪光检测/flash_detector_ws/src/flash_detector/src/main.cpp b/src/闪光检测/flash_detector_ws/src/flash_detector/src/main.cpp
new file mode 100644
index 0000000..b56cc18
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/src/flash_detector/src/main.cpp
@@ -0,0 +1,13 @@
+#include "flash_detector/flash_detector.h"
+
+int main(int argc, char** argv)
+{
+ // Initialize ROS node
+ ros::init(argc, argv, "flash_detector");
+
+ // Create and run detector
+ flash_detector::FlashDetector detector;
+ detector.run();
+
+ return 0;
+}
diff --git a/src/闪光检测/start_all.sh b/src/闪光检测/start_all.sh
new file mode 100644
index 0000000..cf2fe3c
--- /dev/null
+++ b/src/闪光检测/start_all.sh
@@ -0,0 +1,31 @@
+#!/bin/bash
+# P600 无人机控制系统 - 启动脚本
+# 用法: bash start_all.sh
+
+echo "========================================"
+echo " P600 无人机控制系统 - 启动脚本"
+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 "roslaunch prometheus_gazebo sitl.launch"
+echo ""
+echo -e "\e[32m# 终端 2 - rosbridge_server\e[0m"
+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 "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 ""
+echo "========================================"
+echo -e "\e[33m浏览器访问: http://localhost:5000\e[0m"
+echo "========================================"
+
+
`;
}).join('');
@@ -459,35 +478,54 @@ const App = (() => {
showToast('📍 已定位：' + p.name);
}
- // ===== 选择投放点（从列表） =====
- function selectDropPoint(index) {
- API.getDropPoints().then(async points => {
+ // ===== 从列表选择投放点 =====
+ async function selectDropPointFromList(index) {
+ try {
+ const points = await API.getDropPoints();
const p = points[index];
+ if (!p) return;
+
if (p.safety_score < 70) {
showToast('⚠️ 该区域危险，建议选择其他投放点');
return;
}
- selectedDropPoint = p;
-
- // 同时在地图上标记
+
+ // 在地图上标记
await LocationModule.setPickerPosition(p.lat, p.lng, p.name, p.address);
-
- // 更新选中显示
+
+ // 更新选中状态
mapSelectedPoint = {
lat: p.lat,
lng: p.lng,
name: p.name,
address: p.address || p.name
};
- const nameEl = document.getElementById('drop-selected-name');
- const addrEl = document.getElementById('drop-selected-address');
- const coordEl = document.getElementById('drop-selected-coords');
- if (nameEl) nameEl.textContent = p.name;
- if (addrEl) addrEl.textContent = p.address || '安全系数 ' + p.safety_score + '%';
- if (coordEl) coordEl.textContent = `${p.lat.toFixed(6)}, ${p.lng.toFixed(6)}`;
-
+
+ // 显示选中位置卡片
+ const selectedCard = document.getElementById('selected-location-card');
+ if (selectedCard) {
+ selectedCard.style.display = 'block';
+
+ const nameEl = document.getElementById('mini-selected-name');
+ const addrEl = document.getElementById('mini-selected-address');
+ if (nameEl) nameEl.textContent = p.name;
+ if (addrEl) addrEl.textContent = p.address || `安全系数 ${p.safety_score}%`;
+ }
+
showToast('已选择：' + p.name);
- });
+ } catch (e) {
+ showToast('选择失败');
+ }
+ }
+
+ // ===== 从地图选择投放点（点击选中的卡片） =====
+ function selectDropPointFromMap() {
+ if (!mapSelectedPoint) {
+ showToast('请先在地图上选择一个位置');
+ return;
+ }
+
+ showToast('📍 已确认：' + mapSelectedPoint.name);
}
function confirmDropPoint() {
@@ -495,18 +533,48 @@ const App = (() => {
if (mapSelectedPoint) {
selectedDropPoint = mapSelectedPoint;
router('demand');
- const display = document.getElementById('demand-drop-display');
- if (display) display.textContent = mapSelectedPoint.name;
+
+ // 更新填写物资信息页面的显示
+ const selectedCard = document.getElementById('selected-drop-card');
+ const dropDisplay = document.getElementById('demand-drop-display');
+
+ if (selectedCard && dropDisplay) {
+ // 隐藏默认显示，显示选中卡片
+ dropDisplay.style.display = 'none';
+ selectedCard.style.display = 'block';
+
+ // 更新卡片内容
+ const nameEl = document.getElementById('selected-drop-name');
+ const coordsEl = document.getElementById('selected-drop-coords');
+ if (nameEl) nameEl.textContent = mapSelectedPoint.name;
+ if (coordsEl) coordsEl.textContent = `${mapSelectedPoint.lat.toFixed(6)}, ${mapSelectedPoint.lng.toFixed(6)}`;
+ }
+
showToast('✅ 已确认投放点：' + mapSelectedPoint.name);
return;
}
+
// fallback到列表选中的点
if (selectedDropPoint) {
router('demand');
- const display = document.getElementById('demand-drop-display');
- if (display) display.textContent = selectedDropPoint.name;
+
+ const selectedCard = document.getElementById('selected-drop-card');
+ const dropDisplay = document.getElementById('demand-drop-display');
+
+ if (selectedCard && dropDisplay) {
+ dropDisplay.style.display = 'none';
+ selectedCard.style.display = 'block';
+
+ const nameEl = document.getElementById('selected-drop-name');
+ const coordsEl = document.getElementById('selected-drop-coords');
+ if (nameEl) nameEl.textContent = selectedDropPoint.name;
+ if (coordsEl) coordsEl.textContent = `${selectedDropPoint.lat.toFixed(6)}, ${selectedDropPoint.lng.toFixed(6)}`;
+ }
+
+ showToast('✅ 已确认投放点：' + selectedDropPoint.name);
return;
}
+
showToast('请先点击地图或列表选择一个投放点');
}
@@ -549,7 +617,11 @@ const App = (() => {
if (tstart) tstart.textContent = task.start_name || '后方阵地';
const ttarget = document.getElementById('task-target');
- if (ttarget) ttarget.textContent = task.target_name || '目标位置';
+ if (ttarget) {
+ // 优先使用选中的投放点名称，其次使用后端返回的 target_name
+ const targetName = selectedDropPoint ? selectedDropPoint.name : (task.target_name || '目标位置');
+ ttarget.textContent = targetName;
+ }
const trisk = document.getElementById('task-risk');
if (trisk) trisk.textContent = '安全系数: ' + (task.safety_score || 0) + '%';
@@ -692,9 +764,38 @@ const App = (() => {
}
}
- function updateDropPoint() {
- showToast('投放点已更新');
- setTimeout(() => router('task'), 500);
+ async function updateDropPoint() {
+ try {
+ showToast('正在获取当前位置...');
+
+ // 获取当前位置
+ const pos = await LocationModule.getCurrentPosition();
+
+ // 构建投放点对象
+ const newDropPoint = {
+ name: '当前位置 (' + pos.lat.toFixed(6) + ', ' + pos.lng.toFixed(6) + ')',
+ lat: pos.lat,
+ lng: pos.lng,
+ safety_score: 90, // 默认安全系数
+ address: 'GPS定位位置'
+ };
+
+ // 更新选中的投放点
+ selectedDropPoint = newDropPoint;
+ mapSelectedPoint = newDropPoint;
+
+ showToast('✅ 投放点已更新为当前位置');
+
+ // 跳转到任务页面
+ setTimeout(() => {
+ router('task');
+ // 强制刷新任务信息
+ loadTaskInfo();
+ }, 500);
+ } catch (e) {
+ showToast('❌ 获取位置失败：' + (e.message || '未知错误'));
+ console.error('updateDropPoint错误:', e);
+ }
}
// ===== 标注 =====
@@ -731,6 +832,446 @@ const App = (() => {
}
}
+ // ===== 主题切换 =====
+ function initTheme() {
+ const theme = CONFIG.theme || 'dark';
+ applyTheme(theme);
+ updateThemeDisplay();
+
+ // 如果是自动模式，监听系统主题变化
+ if (theme === 'auto') {
+ const mediaQuery = window.matchMedia('(prefers-color-scheme: dark)');
+ mediaQuery.addEventListener('change', handleSystemThemeChange);
+ }
+ }
+
+ function applyTheme(theme) {
+ if (theme === 'auto') {
+ const isDark = window.matchMedia('(prefers-color-scheme: dark)').matches;
+ document.documentElement.setAttribute('data-theme', isDark ? 'dark' : 'light');
+ } else {
+ document.documentElement.setAttribute('data-theme', theme);
+ }
+ }
+
+ function handleSystemThemeChange(e) {
+ if (CONFIG.theme === 'auto') {
+ applyTheme('auto');
+ const themeName = e.matches ? '深色' : '浅色';
+ showToast('系统主题已切换为：' + themeName + '模式');
+ }
+ }
+
+ function toggleTheme() {
+ // 创建自定义选择弹窗
+ const modal = document.createElement('div');
+ modal.style.cssText = `
+ position: fixed;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+ background: rgba(0,0,0,0.5);
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ z-index: 10000;
+ `;
+
+ const content = document.createElement('div');
+ content.style.cssText = `
+ background: white;
+ border-radius: 12px;
+ padding: 20px;
+ min-width: 280px;
+ max-width: 90%;
+ `;
+
+ const title = document.createElement('div');
+ title.textContent = '选择主题模式';
+ title.style.cssText = `
+ font-size: 16px;
+ font-weight: 600;
+ color: #333;
+ margin-bottom: 16px;
+ text-align: center;
+ `;
+
+ const options = [
+ { value: 'dark', label: '🌙 深色模式', desc: '始终使用深色主题' },
+ { value: 'light', label: '☀️ 浅色模式', desc: '始终使用浅色主题' },
+ { value: 'auto', label: '🔄 跟随系统', desc: '自动跟随系统主题' }
+ ];
+
+ options.forEach((opt, index) => {
+ const optionDiv = document.createElement('div');
+ const isSelected = CONFIG.theme === opt.value;
+ optionDiv.style.cssText = `
+ padding: 12px 16px;
+ margin-bottom: ${index < options.length - 1 ? '8px' : '0'};
+ border-radius: 8px;
+ cursor: pointer;
+ background: ${isSelected ? '#E6F7FF' : '#f5f5f5'};
+ border: ${isSelected ? '2px solid #007AFF' : '2px solid transparent'};
+ transition: all 0.2s;
+ `;
+
+ optionDiv.innerHTML = `
+
+
+ ${p.name}
+ 安全系数: ${p.safety_score}% · 距离: ${p.distance}m
✓
+ ${opt.label}
+
+
+ ${opt.desc}
+
+ `;
+
+ optionDiv.addEventListener('click', () => {
+ // 应用选择的主题
+ CONFIG.theme = opt.value;
+ localStorage.setItem('app_theme', CONFIG.theme);
+ applyTheme(CONFIG.theme);
+ updateThemeDisplay();
+
+ // 关闭弹窗
+ document.body.removeChild(modal);
+
+ const themeNames = {
+ 'dark': '深色模式',
+ 'light': '浅色模式',
+ 'auto': '环境跟随'
+ };
+ showToast('已切换到：' + themeNames[CONFIG.theme]);
+
+ // 如果切换到自动模式，开始监听系统主题
+ if (CONFIG.theme === 'auto') {
+ const mediaQuery = window.matchMedia('(prefers-color-scheme: dark)');
+ mediaQuery.addEventListener('change', handleSystemThemeChange);
+ }
+ });
+
+ content.appendChild(optionDiv);
+ });
+
+ // 添加取消按钮
+ const cancelBtn = document.createElement('div');
+ cancelBtn.textContent = '取消';
+ cancelBtn.style.cssText = `
+ margin-top: 16px;
+ padding: 12px;
+ text-align: center;
+ color: #007AFF;
+ font-size: 14px;
+ cursor: pointer;
+ border-top: 1px solid #e0e0e0;
+ `;
+ cancelBtn.addEventListener('click', () => {
+ document.body.removeChild(modal);
+ });
+
+ content.appendChild(cancelBtn);
+ modal.appendChild(content);
+ document.body.appendChild(modal);
+
+ // 点击背景关闭
+ modal.addEventListener('click', (e) => {
+ if (e.target === modal) {
+ document.body.removeChild(modal);
+ }
+ });
+ }
+
+ function updateThemeDisplay() {
+ const themeEl = document.getElementById('theme-value');
+ if (!themeEl) return;
+
+ const themeIcons = {
+ 'dark': '◉ 深色',
+ 'light': '○ 浅色',
+ 'auto': '◎ 跟随系统'
+ };
+ themeEl.textContent = themeIcons[CONFIG.theme] + ' →';
+ }
+
+ // ===== 修改密码 =====
+ function showChangePasswordModal() {
+ // 获取当前主题
+ const currentTheme = document.documentElement.getAttribute('data-theme') || 'dark';
+ const isDark = currentTheme === 'dark';
+
+ // 主题颜色配置
+ const themeColors = {
+ bg: isDark ? '#1a1a2e' : 'white',
+ text: isDark ? '#e0e0e0' : '#333',
+ border: isDark ? '#2a2a3e' : '#e0e0e0',
+ inputBg: isDark ? '#16213e' : 'white',
+ cancelBg: isDark ? '#2a2a3e' : '#f5f5f5',
+ cancelText: isDark ? '#e0e0e0' : '#333'
+ };
+
+ // 创建弹窗
+ const modal = document.createElement('div');
+ modal.style.cssText = `
+ position: fixed;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+ background: rgba(0,0,0,0.5);
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ z-index: 10000;
+ `;
+
+ const content = document.createElement('div');
+ content.style.cssText = `
+ background: ${themeColors.bg};
+ border-radius: 12px;
+ padding: 24px;
+ min-width: 320px;
+ max-width: 90%;
+ `;
+
+ const title = document.createElement('div');
+ title.textContent = '修改登录密码';
+ title.style.cssText = `
+ font-size: 18px;
+ font-weight: 600;
+ color: ${themeColors.text};
+ margin-bottom: 20px;
+ text-align: center;
+ `;
+
+ // 输入框配置
+ const inputs = [
+ { id: 'old-pwd', label: '原密码', type: 'password', placeholder: '请输入原密码' },
+ { id: 'new-pwd', label: '新密码', type: 'password', placeholder: '请输入新密码' },
+ { id: 'confirm-pwd', label: '确认新密码', type: 'password', placeholder: '请再次输入新密码' }
+ ];
+
+ inputs.forEach((input, index) => {
+ const group = document.createElement('div');
+ group.style.cssText = 'margin-bottom: 16px;';
+
+ const label = document.createElement('label');
+ label.textContent = input.label;
+ label.style.cssText = `
+ display: block;
+ font-size: 14px;
+ color: ${themeColors.text};
+ margin-bottom: 6px;
+ font-weight: 500;
+ `;
+
+ const inputWrapper = document.createElement('div');
+ inputWrapper.style.cssText = 'position: relative;';
+
+ const inputEl = document.createElement('input');
+ inputEl.type = input.type;
+ inputEl.id = input.id;
+ inputEl.placeholder = input.placeholder;
+ inputEl.style.cssText = `
+ width: 100%;
+ padding: 12px 40px 12px 12px;
+ border: 1px solid ${themeColors.border};
+ border-radius: 8px;
+ font-size: 14px;
+ outline: none;
+ box-sizing: border-box;
+ background: ${themeColors.inputBg};
+ color: ${themeColors.text};
+ `;
+
+ // 眼睛图标（显示/隐藏密码）
+ const eyeIcon = document.createElement('span');
+ eyeIcon.innerHTML = '🙈'; // 默认隐藏密码，显示捂眼
+ eyeIcon.style.cssText = `
+ position: absolute;
+ right: 12px;
+ top: 50%;
+ transform: translateY(-50%);
+ cursor: pointer;
+ font-size: 18px;
+ user-select: none;
+ `;
+
+ let isPasswordVisible = false;
+ eyeIcon.addEventListener('click', () => {
+ isPasswordVisible = !isPasswordVisible;
+ inputEl.type = isPasswordVisible ? 'text' : 'password';
+ // 显示密码时用睁开的眼睛，隐藏时用捂眼
+ eyeIcon.innerHTML = isPasswordVisible ? '👁️' : '🙈';
+ });
+
+ inputWrapper.appendChild(inputEl);
+ inputWrapper.appendChild(eyeIcon);
+ group.appendChild(label);
+ group.appendChild(inputWrapper);
+ content.appendChild(group);
+ });
+
+ // 按钮区域
+ const btnGroup = document.createElement('div');
+ btnGroup.style.cssText = `
+ display: flex;
+ gap: 12px;
+ margin-top: 24px;
+ `;
+
+ // 取消按钮
+ const cancelBtn = document.createElement('button');
+ cancelBtn.textContent = '取消';
+ cancelBtn.style.cssText = `
+ flex: 1;
+ padding: 12px;
+ background: ${themeColors.cancelBg};
+ color: ${themeColors.cancelText};
+ border: none;
+ border-radius: 8px;
+ font-size: 14px;
+ cursor: pointer;
+ `;
+ cancelBtn.addEventListener('click', () => {
+ document.body.removeChild(modal);
+ });
+
+ // 确认按钮
+ const confirmBtn = document.createElement('button');
+ confirmBtn.textContent = '确认修改';
+ confirmBtn.style.cssText = `
+ flex: 1;
+ padding: 12px;
+ background: linear-gradient(135deg, #007AFF 0%, #0056b3 100%);
+ color: white;
+ border: none;
+ border-radius: 8px;
+ font-size: 14px;
+ font-weight: 600;
+ cursor: pointer;
+ `;
+
+ // 显示结果状态的函数
+ function showResult(success, message) {
+ content.innerHTML = '';
+ content.style.textAlign = 'center';
+ content.style.padding = '40px 24px';
+
+ const icon = document.createElement('div');
+ icon.textContent = success ? '✅' : '❌';
+ icon.style.cssText = `
+ font-size: 48px;
+ margin-bottom: 16px;
+ `;
+
+ const msg = document.createElement('div');
+ msg.textContent = message;
+ msg.style.cssText = `
+ font-size: 16px;
+ color: ${themeColors.text};
+ margin-bottom: 24px;
+ `;
+
+ const closeBtn = document.createElement('button');
+ closeBtn.textContent = '关闭';
+ closeBtn.style.cssText = `
+ padding: 12px 48px;
+ background: ${success ? 'linear-gradient(135deg, #28a745 0%, #1e7e34 100%)' : 'linear-gradient(135deg, #007AFF 0%, #0056b3 100%)'};
+ color: white;
+ border: none;
+ border-radius: 8px;
+ font-size: 14px;
+ font-weight: 600;
+ cursor: pointer;
+ `;
+ closeBtn.addEventListener('click', () => {
+ document.body.removeChild(modal);
+ });
+
+ content.appendChild(icon);
+ content.appendChild(msg);
+ content.appendChild(closeBtn);
+
+ // 成功时2秒后自动关闭
+ if (success) {
+ setTimeout(() => {
+ if (document.body.contains(modal)) {
+ document.body.removeChild(modal);
+ }
+ }, 2000);
+ }
+ }
+
+ confirmBtn.addEventListener('click', async () => {
+ // 防止重复点击
+ if (confirmBtn.disabled) return;
+
+ const oldPwd = document.getElementById('old-pwd').value.trim();
+ const newPwd = document.getElementById('new-pwd').value.trim();
+ const confirmPwd = document.getElementById('confirm-pwd').value.trim();
+
+ // 验证
+ if (!oldPwd || !newPwd || !confirmPwd) {
+ showToast('请填写所有字段');
+ return;
+ }
+
+ if (newPwd !== confirmPwd) {
+ showToast('两次输入的新密码不一致');
+ return;
+ }
+
+ if (newPwd.length < 6) {
+ showToast('新密码长度不能少于6位');
+ return;
+ }
+
+ // 立即禁用按钮并显示加载状态
+ confirmBtn.disabled = true;
+ confirmBtn.textContent = '处理中...';
+ confirmBtn.style.opacity = '0.7';
+ cancelBtn.disabled = true;
+
+ try {
+ const result = await API.changePassword(CONFIG.soldierId, oldPwd, newPwd);
+
+ if (result.ok) {
+ showResult(true, '密码修改成功');
+ } else {
+ showResult(false, result.error || '修改失败');
+ }
+ } catch (e) {
+ // 如果后端不可用，使用离线模式
+ const demoAccounts = {
+ 'soldier_001': '123456',
+ 'soldier_002': '123456',
+ 'soldier_003': '123456'
+ };
+
+ const currentPwd = demoAccounts[CONFIG.soldierId];
+ if (!currentPwd || oldPwd !== currentPwd) {
+ showResult(false, '原密码错误');
+ return;
+ }
+
+ showResult(true, '密码修改成功');
+ }
+ });
+
+ btnGroup.appendChild(cancelBtn);
+ btnGroup.appendChild(confirmBtn);
+ content.appendChild(btnGroup);
+
+ modal.appendChild(content);
+ document.body.appendChild(modal);
+
+ // 点击背景关闭
+ modal.addEventListener('click', (e) => {
+ if (e.target === modal) {
+ document.body.removeChild(modal);
+ }
+ });
+ }
+
// ===== 轮询 =====
function startPolling() {
if (pollTimer) clearInterval(pollTimer);
@@ -758,7 +1299,8 @@ const App = (() => {
router,
back,
submitDemand,
- selectDropPoint,
+ selectDropPointFromList,
+ selectDropPointFromMap,
confirmDropPoint,
searchDropPoint,
selectSearchResult,
@@ -770,6 +1312,8 @@ const App = (() => {
showToast,
showServerConfig,
toggleSwitch,
+ toggleTheme,
+ showChangePasswordModal,
doLogin,
doRegister,
fillLogin,
diff --git a/src/软件电脑端/server/app.py b/src/软件电脑端/server/app.py
index ef5cf2a..93f1fb5 100644
--- a/src/软件电脑端/server/app.py
+++ b/src/软件电脑端/server/app.py
@@ -9,9 +9,43 @@ from datetime import datetime
from flask import Flask, send_from_directory, request, jsonify
from flask_cors import CORS
+
# 项目根目录（server 的上级目录）
BASE_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+import json
+import os
+
+# 数据文件路径
+DATA_FILE = os.path.join(os.path.dirname(__file__), 'accounts.json')
+
+# 加载账号数据
+def load_accounts():
+ if os.path.exists(DATA_FILE):
+ try:
+ with open(DATA_FILE, 'r', encoding='utf-8') as f:
+ return json.load(f)
+ except:
+ pass
+ # 默认账号
+ return {
+ "soldier_001": { "password": "123456", "name": "张三", "unit": "第3步兵师/1连", "role": "狙击手" },
+ "soldier_002": { "password": "123456", "name": "李四", "unit": "第3步兵师/2连", "role": "机枪手" },
+ "soldier_003": { "password": "123456", "name": "王五", "unit": "第3步兵师/3连", "role": "通讯员" }
+ }
+
+# 保存账号数据
+def save_accounts():
+ try:
+ with open(DATA_FILE, 'w', encoding='utf-8') as f:
+ json.dump(_accounts, f, ensure_ascii=False, indent=2)
+ print("✅ 账号数据已保存")
+ except Exception as e:
+ print(f"❌ 保存账号数据失败: {e}")
+
+# 初始化账号数据
+_accounts = load_accounts()
+
app = Flask(__name__, static_folder=BASE_DIR)
CORS(app) # 允许跨域请求，支持单兵APP访问
@@ -46,11 +80,11 @@ _drone_logs = [ # 无人机动态日志
{"time": "12:10:00", "message": "任务分配"}
]
_sos_alerts = [] # 求救记录
-_accounts = { # 士兵账号 { soldier_id: { password, name, unit, role } }
- "soldier_001": { "password": "123456", "name": "张三", "unit": "第3步兵师/1连", "role": "狙击手" },
- "soldier_002": { "password": "123456", "name": "李四", "unit": "第3步兵师/2连", "role": "机枪手" },
- "soldier_003": { "password": "123456", "name": "王五", "unit": "第3步兵师/3连", "role": "通讯员" }
-}
+# _accounts = { # 士兵账号 { soldier_id: { password, name, unit, role } }
+# "soldier_001": { "password": "123456", "name": "张三", "unit": "第3步兵师/1连", "role": "狙击手" },
+# "soldier_002": { "password": "123456", "name": "李四", "unit": "第3步兵师/2连", "role": "机枪手" },
+# "soldier_003": { "password": "123456", "name": "王五", "unit": "第3步兵师/3连", "role": "通讯员" }
+# }
_tasks = {} # { soldier_id: { id, status, progress, eta, ... } }
_task_id_counter = 0
_danger_id_counter = 0
diff --git a/src/闪光检测/FrontEnd/.claude/settings.local.json b/src/闪光检测/FrontEnd/.claude/settings.local.json
new file mode 100644
index 0000000..640f442
--- /dev/null
+++ b/src/闪光检测/FrontEnd/.claude/settings.local.json
@@ -0,0 +1,8 @@
+{
+ "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
new file mode 100644
index 0000000..b3e15fc
--- /dev/null
+++ b/src/闪光检测/FrontEnd/css/style.css
@@ -0,0 +1,383 @@
+/* ===== 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;
+}
+
+/* ===== 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;
+ color: #aaa;
+ border: none;
+ cursor: pointer;
+ font-size: 12px;
+ font-weight: 600;
+ transition: all 0.2s;
+}
+
+.mode-btn:hover { color: #ddd; }
+
+.mode-btn.active {
+ background: #007aff;
+ color: #fff;
+}
+
+.conn-mode-tag {
+ font-size: 11px;
+ padding: 2px 8px;
+ border-radius: 3px;
+ background: #2a2a3e;
+ color: #888;
+ white-space: nowrap;
+}
+
+/* ===== 标签 ===== */
+.tag {
+ display: inline-block;
+ padding: 2px 10px;
+ border-radius: 10px;
+ font-size: 12px;
+ font-weight: 600;
+}
+
+.tag-success { background: #f6ffed; color: #52c41a; }
+.tag-danger { background: #fff1f0; color: #ff4d4f; }
+.tag-warning { background: #fffbe6; color: #faad14; }
+.tag-info { background: #e6f7ff; color: #007aff; }
+
+/* ===== 按钮 ===== */
+.btn {
+ padding: 7px 14px;
+ border: none;
+ border-radius: 6px;
+ cursor: pointer;
+ font-size: 13px;
+ font-weight: 600;
+ transition: opacity 0.2s;
+}
+
+.btn:disabled {
+ opacity: 0.4;
+ cursor: not-allowed;
+}
+
+.btn:not(:disabled):hover { opacity: 0.85; }
+
+.btn-primary { background: #007aff; color: #fff; }
+.btn-success { background: #52c41a; color: #fff; }
+.btn-warning { background: #faad14; color: #fff; }
+.btn-danger { background: #ff4d4f; color: #fff; }
+.btn-secondary { background: #e0e0e0; color: #333; }
+.btn.wide { width: 100%; }
+
+.btn-link {
+ background: none;
+ border: none;
+ color: #999;
+ cursor: pointer;
+ font-size: 12px;
+}
+
+.btn-link:hover { color: #007aff; }
+
+.btn-group {
+ display: flex;
+ gap: 8px;
+ margin-bottom: 8px;
+}
+
+.btn-group .btn { flex: 1; }
+
+/* ===== 主内容区 ===== */
+.main-content {
+ display: flex;
+ flex: 1;
+ min-height: 0;
+}
+
+/* ===== 地图 ===== */
+.map-container {
+ flex: 1;
+ min-width: 0;
+ z-index: 1;
+}
+
+/* ===== 右侧控制面板 ===== */
+.control-panel {
+ width: 300px;
+ flex-shrink: 0;
+ background: #fff;
+ border-left: 1px solid #e0e0e0;
+ overflow-y: auto;
+ display: flex;
+ flex-direction: column;
+}
+
+.panel-section {
+ padding: 12px;
+ border-bottom: 1px solid #f0f0f0;
+}
+
+.panel-header {
+ font-size: 14px;
+ font-weight: 700;
+ color: #333;
+ margin-bottom: 10px;
+ display: flex;
+ justify-content: space-between;
+ align-items: center;
+}
+
+.panel-header span:last-child {
+ font-weight: 400;
+ font-size: 12px;
+ color: #999;
+}
+
+/* ===== 航点列表 ===== */
+.waypoint-list {
+ max-height: 220px;
+ overflow-y: auto;
+ margin-bottom: 8px;
+}
+
+.empty-hint {
+ text-align: center;
+ color: #bbb;
+ font-size: 13px;
+ padding: 20px 0;
+}
+
+.wp-item {
+ display: flex;
+ align-items: center;
+ padding: 6px 8px;
+ border-radius: 6px;
+ margin-bottom: 4px;
+ background: #f8f9fa;
+ cursor: pointer;
+ font-size: 13px;
+ transition: background 0.15s;
+}
+
+.wp-item:hover { background: #e6f7ff; }
+
+.wp-item.active { background: #e6f7ff; border: 1px solid #91d5ff; }
+
+.wp-index {
+ width: 22px;
+ height: 22px;
+ border-radius: 50%;
+ background: #007aff;
+ color: #fff;
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ font-size: 11px;
+ font-weight: 700;
+ margin-right: 8px;
+ flex-shrink: 0;
+}
+
+.wp-info {
+ flex: 1;
+ min-width: 0;
+}
+
+.wp-coord {
+ font-size: 11px;
+ color: #666;
+ white-space: nowrap;
+ overflow: hidden;
+ text-overflow: ellipsis;
+}
+
+.wp-alt {
+ font-size: 11px;
+ color: #999;
+}
+
+.wp-delete {
+ width: 20px;
+ height: 20px;
+ border: none;
+ background: none;
+ color: #ccc;
+ cursor: pointer;
+ font-size: 16px;
+ line-height: 1;
+ flex-shrink: 0;
+}
+
+.wp-delete:hover { color: #ff4d4f; }
+
+.wp-params {
+ display: flex;
+ gap: 10px;
+ font-size: 12px;
+ color: #666;
+}
+
+.wp-params input {
+ width: 60px;
+ padding: 3px 6px;
+ border: 1px solid #ddd;
+ border-radius: 4px;
+ font-size: 12px;
+ text-align: center;
+}
+
+/* ===== 数据面板 ===== */
+.data-grid {
+ display: grid;
+ grid-template-columns: 1fr 1fr;
+ gap: 8px;
+}
+
+.data-item {
+ background: #f8f9fa;
+ border-radius: 6px;
+ padding: 8px;
+ text-align: center;
+}
+
+.data-label {
+ display: block;
+ font-size: 11px;
+ color: #999;
+ margin-bottom: 2px;
+}
+
+.data-value {
+ font-size: 13px;
+ font-weight: 600;
+ color: #333;
+}
+
+/* ===== 底部日志栏 ===== */
+.log-bar {
+ height: 120px;
+ flex-shrink: 0;
+ background: #1e1e1e;
+ display: flex;
+ flex-direction: column;
+}
+
+.log-header {
+ display: flex;
+ justify-content: space-between;
+ align-items: center;
+ padding: 4px 12px;
+ font-size: 12px;
+ color: #888;
+ background: #2a2a2a;
+ border-bottom: 1px solid #333;
+}
+
+.log-content {
+ flex: 1;
+ overflow-y: auto;
+ padding: 4px 12px;
+ font-family: 'Consolas', 'Monaco', monospace;
+ font-size: 12px;
+ line-height: 1.6;
+}
+
+.log-entry {
+ white-space: nowrap;
+}
+
+.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
new file mode 100644
index 0000000..de9973f
--- /dev/null
+++ b/src/闪光检测/FrontEnd/index.html
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/闪光检测/FrontEnd/js/flash_avoidance.js b/src/闪光检测/FrontEnd/js/flash_avoidance.js
new file mode 100644
index 0000000..9dfbdb7
--- /dev/null
+++ b/src/闪光检测/FrontEnd/js/flash_avoidance.js
@@ -0,0 +1,269 @@
+/**
+ * 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
+ */
+
+const FlashAvoidanceModule = (() => {
+ // 配置参数
+ const config = {
+ // 避光斑参数
+ enabled: false, // 是否启用避光斑
+ 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
+ debounceCounter: 0, // 防抖计数器
+ 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
+ * - wsModule: WsModule 实例 (用于获取无人机位置)
+ * - onStatusUpdate: 状态更新回调
+ * - onAvoidanceStart: 避光斑开始回调
+ * - onAvoidanceEnd: 避光斑结束回调
+ */
+ function init(options = {}) {
+ wsModule = options.wsModule || null;
+ 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
+ */
+ function setEnabled(enabled) {
+ config.enabled = enabled;
+ if (statusCallback) {
+ statusCallback({
+ type: 'info',
+ message: `避光斑模块 ${enabled ? '已启用' : '已禁用'}`
+ });
+ }
+ }
+
+ /**
+ * 状态回调
+ */
+ let statusCallback = null;
+ 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}
+ * @returns {Object|null} - 避光斑指令或null
+ */
+ function processDetection(detectionData) {
+ 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
+ // 光斑在左侧，无人机向右移动
+ 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
+ // 光斑在上方(cy < centerY)，无人机向下移动
+ avoidZ = relativeY * config.avoidanceDistance;
+ needAvoidance = true;
+ }
+
+ if (needAvoidance) {
+ state.isAvoiding = true;
+ state.lastAvoidanceTime = now;
+ state.detectionCount = 0;
+
+ const avoidanceCmd = {
+ type: 'flash_avoidance',
+ avoidX: avoidX,
+ avoidY: avoidY,
+ avoidZ: avoidZ,
+ detectionData: {
+ cx: detectionData.cx,
+ cy: detectionData.cy,
+ area: detectionData.area,
+ relativeX: relativeX,
+ 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',
+ message: '避光斑完成，返回正常控制'
+ });
+ }
+ }
+ }
+
+ /**
+ * 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}
+ * @param {Object} avoidanceCmd - 避光斑指令
+ * @returns {Object} - 目标位置 {x, y, z}
+ */
+ function calculateAvoidanceTarget(currentPos, avoidanceCmd) {
+ return {
+ x: currentPos.x + avoidanceCmd.avoidX,
+ y: currentPos.y + avoidanceCmd.avoidY,
+ z: currentPos.z + avoidanceCmd.avoidZ
+ };
+ }
+
+ /**
+ * 获取当前状态
+ */
+ function getState() {
+ return { ...state };
+ }
+
+ /**
+ * 重置状态
+ */
+ function reset() {
+ state = {
+ isAvoiding: false,
+ debounceCounter: 0,
+ lastAvoidanceTime: 0,
+ detectionCount: 0
+ };
+ }
+
+ return {
+ init,
+ updateConfig,
+ setEnabled,
+ setStatusCallback,
+ processDetection,
+ endAvoidance,
+ isAvoiding,
+ calculateAvoidanceTarget,
+ getState,
+ reset
+ };
+})();
diff --git a/src/闪光检测/FrontEnd/js/flash_detector.js b/src/闪光检测/FrontEnd/js/flash_detector.js
new file mode 100644
index 0000000..d726415
--- /dev/null
+++ b/src/闪光检测/FrontEnd/js/flash_detector.js
@@ -0,0 +1,174 @@
+/**
+ * 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]
+ */
+
+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 = {
+ cx: 0,
+ cy: 0,
+ area: 0,
+ 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
+ * @param {Object} callbacks - 回调函数对象
+ * - onFlashDetected: (detected: boolean) => void
+ * - onDetectionData: (data: DetectionData) => void
+ */
+ function init(rosInstance, callbacks = {}) {
+ 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
+ */
+ function setupSubscriptions() {
+ // 订阅闪光检测标志
+ flashDetectedSub = new ROSLIB.Topic({
+ ros: ros,
+ 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 = {
+ cx: msg.data[0],
+ cy: msg.data[1],
+ area: msg.data[2],
+ 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)}
+ */
+ function getRelativePosition() {
+ 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}
+ */
+ function getSightAngles() {
+ return {
+ x: detectionData.sightX,
+ y: detectionData.sightY
+ };
+ }
+
+ /**
+ * 设置图像尺寸 (用于计算相对位置)
+ */
+ function setImageSize(width, height) {
+ imageWidth = width;
+ imageHeight = height;
+ }
+
+ /**
+ * 关闭模块
+ */
+ function shutdown() {
+ if (flashDetectedSub) {
+ flashDetectedSub.unsubscribe();
+ flashDetectedSub = null;
+ }
+ if (detectionSub) {
+ detectionSub.unsubscribe();
+ detectionSub = null;
+ }
+ console.log('[Flash Detector] 模块已关闭');
+ }
+
+ return {
+ init,
+ isFlashDetected,
+ getDetectionData,
+ getRelativePosition,
+ getSightAngles,
+ setImageSize,
+ shutdown
+ };
+})();
diff --git a/src/闪光检测/FrontEnd/js/map.js b/src/闪光检测/FrontEnd/js/map.js
new file mode 100644
index 0000000..4cb05c0
--- /dev/null
+++ b/src/闪光检测/FrontEnd/js/map.js
@@ -0,0 +1,202 @@
+/**
+ * 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: '© 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: '',
+ 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(`航点 ${index}高度: ${wp.alt}m
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(`航点 ${wpIdx + 1}
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(`航点 ${i + 1}
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( + `航点 ${index + 1}
高度: ${alt}m
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 new file mode 100644 index 0000000..506562b --- /dev/null +++ b/src/闪光检测/FrontEnd/js/roslib.min.js @@ -0,0 +1 @@ +!function n(r,s,o){function a(t,e){if(!s[t]){if(!r[t]){var i="function"==typeof require&&require;if(!e&&i)return i(t,!0);if(c)return c(t,!0);throw(e=new Error("Cannot find module '"+t+"'")).code="MODULE_NOT_FOUND",e}i=s[t]={exports:{}},r[t][0].call(i.exports,function(e){return a(r[t][1][e]||e)},i,i.exports,n,r,s,o)}return s[t].exports}for(var c="function"==typeof require&&require,e=0;e
在地图上点击以添加航点
';
+ return;
+ }
+
+ container.innerHTML = waypoints.map((wp, i) => `
+
+ ${i + 1}
+
+ `).join('');
+
+ // 绑定点击定位事件
+ container.querySelectorAll('.wp-item').forEach(item => {
+ item.addEventListener('click', (e) => {
+ if (e.target.classList.contains('wp-delete')) return;
+ const idx = parseInt(item.dataset.index);
+ const wps = MapModule.getWaypoints();
+ if (wps[idx]) {
+ MapModule.panTo(wps[idx].lat, wps[idx].lng);
+ }
+ });
+ });
+
+ // 绑定删除事件
+ container.querySelectorAll('.wp-delete').forEach(btn => {
+ btn.addEventListener('click', () => {
+ MapModule.removeWaypoint(parseInt(btn.dataset.index));
+ });
+ });
+ }
+
+ // ---------- 日志输出 ----------
+
+ function addLog(type, message) {
+ const container = document.getElementById('log-content');
+ const now = new Date();
+ const time = now.toTimeString().split(' ')[0];
+
+ const entry = document.createElement('div');
+ entry.className = 'log-entry ' + type;
+ entry.innerHTML = `[${time}]${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
new file mode 100644
index 0000000..e578892
--- /dev/null
+++ b/src/闪光检测/FrontEnd/js/websocket.js
@@ -0,0 +1,696 @@
+/**
+ * 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
new file mode 100644
index 0000000..96ce6fc
Binary files /dev/null and b/src/闪光检测/FrontEnd/server/__pycache__/drone_manager.cpython-313.pyc differ
diff --git a/src/闪光检测/FrontEnd/server/app.py b/src/闪光检测/FrontEnd/server/app.py
new file mode 100644
index 0000000..17d8d13
--- /dev/null
+++ b/src/闪光检测/FrontEnd/server/app.py
@@ -0,0 +1,39 @@
+"""
+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/
+
+
+ ${wp.lat}, ${wp.lng}
+ ${wp.alt}m | 悬停 ${wp.hold_time}s
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/CATKIN_IGNORE b/src/闪光检测/flash_detector_ws/.catkin_tools/CATKIN_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/README b/src/闪光检测/flash_detector_ws/.catkin_tools/README
new file mode 100644
index 0000000..4706f47
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/README
@@ -0,0 +1,13 @@
+# Catkin Tools Metadata
+
+This directory was generated by catkin_tools and it contains persistent
+configuration information used by the `catkin` command and its sub-commands.
+
+Each subdirectory of the `profiles` directory contains a set of persistent
+configuration options for separate profiles. The default profile is called
+`default`. If another profile is desired, it can be described in the
+`profiles.yaml` file in this directory.
+
+Please see the catkin_tools documentation before editing any files in this
+directory. Most actions can be performed with the `catkin` command-line
+program.
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/VERSION b/src/闪光检测/flash_detector_ws/.catkin_tools/VERSION
new file mode 100644
index 0000000..2bd77c7
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/VERSION
@@ -0,0 +1 @@
+0.9.4
\ No newline at end of file
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/build.yaml b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/build.yaml
new file mode 100644
index 0000000..910ef42
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/build.yaml
@@ -0,0 +1,22 @@
+authors: []
+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args: []
+devel_layout: linked
+devel_space: devel
+extend_path: null
+extends: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: []
+licenses:
+- TODO
+log_space: logs
+maintainers: []
+make_args: []
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: []
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/devel_collisions.txt b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/devel_collisions.txt
new file mode 100644
index 0000000..e69de29
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/devel_manifest.txt b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/devel_manifest.txt
new file mode 100644
index 0000000..fd1bba3
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/devel_manifest.txt
@@ -0,0 +1,14 @@
+/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.sh /home/mc/ZhiTu/flash_detector_ws/devel/./local_setup.sh
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/_setup_util.py /home/mc/ZhiTu/flash_detector_ws/devel/./_setup_util.py
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.zsh /home/mc/ZhiTu/flash_detector_ws/devel/./local_setup.zsh
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh /home/mc/ZhiTu/flash_detector_ws/devel/./env.sh
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.zsh /home/mc/ZhiTu/flash_detector_ws/devel/./setup.zsh
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh /home/mc/ZhiTu/flash_detector_ws/devel/./setup.sh
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.fish /home/mc/ZhiTu/flash_detector_ws/devel/./setup.fish
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.fish /home/mc/ZhiTu/flash_detector_ws/devel/./local_setup.fish
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.bash /home/mc/ZhiTu/flash_detector_ws/devel/./setup.bash
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/local_setup.bash /home/mc/ZhiTu/flash_detector_ws/devel/./local_setup.bash
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake /home/mc/ZhiTu/flash_detector_ws/devel/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake /home/mc/ZhiTu/flash_detector_ws/devel/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake
+/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc /home/mc/ZhiTu/flash_detector_ws/devel/lib/pkgconfig/catkin_tools_prebuild.pc
diff --git a/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/package.xml b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/package.xml
new file mode 100644
index 0000000..134c59a
--- /dev/null
+++ b/src/闪光检测/flash_detector_ws/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/package.xml
@@ -0,0 +1,10 @@
+📱 最后一公里补给系统 - UI原型
+ + +
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 📱 单兵终端APP - 首页
+
+
+
+
+
+
+
+
+
+
+ 👤 前线士兵：张三
+ 所属：第3步兵师/1连
+ 💊 紧急物资需求上报
+
+
+ 📦 当前库存状态
+
+
+
+
+ 弹药150发 / 176发
+
+
+
+
+ 食物5份 / 8份
+
+
+
+
+ 医药3箱 / 4箱
+
+
+
+
+ 饮水4箱 / 4箱
+
+
+ 📍 当前位置：A区街角12号
+ 更新
+
+
+
+ 📋 当前任务：#001 运输中
+ 查看
+
+
+
+
+
+
+
+
+
+ 📝 单兵终端APP - 物资需求上报
+
+
+
+
+
+
+
+
+
+ 📝 填写物资信息
+
+
+
+
+
+
+
+
+
+
+ 发
+
+
+
+
+
+
+
+
+ ○ 一般
+ ○ 重要
+ ◉ 紧急
+
+
+
+
+ 当前位置：A区街角12号
+
+
+
+
+
+
+
+ 已标注：
+ B区道路（危险区域）
+ 2号楼地下（安全区域）
+
+
+
+
+ 📋 单兵终端APP - 任务监控
+
+
+
+
+
+
+
+
+
+ 📋 当前任务
+
+
+
+
+
+
+ 📋 任务ID
+ #2024-05-20-001
+ 🟢 执行中
+ 预计到达：12:30
+
+
+
+ ━━━━━━━━━━━━━━━━━━ 60%
+ 剩余时间：12分钟
+ 📍 飞行路径
+
+
+
+ 🚀 起点
+ 后方阵地
+ 📍 目标
+ A区街角12号背侧
+
+
+
+ 📦 投放点位置
+
+
+ 📦
+ 投放点
+ 安全系数: 92%
+
+
+ 🚨 紧急操作
+
+
+
+
+
+
+
+
+ 🎯 单兵终端APP - 投放点选择
+
+
+
+
+
+
+
+
+
+ 🎯 选择投放点
+
+
+
+ 🎯 推荐投放点列表
+
+
+
+
+ 📍 安全点 #1
+ 安全系数: 92% | 距离: 5m
+ 原因: 深掩体保护，视角盲区
+
+
+
+
+ 📍 安全点 #2
+ 安全系数: 85% | 距离: 12m
+ 原因: 钢筋混凝土建筑内部
+
+
+
+
+
+ ⚠️ 陷阱点 #3
+ 安全系数: 35% | 距离: 20m
+ 原因: 孤立断墙，成瞄准点
+
+
+
+
+
+ 🚀 单兵终端APP - 无人机状态
+
+
+
+
+
+
+
+
+
+ 🚀 无人机状态
+
+
+
+
+
+
+ 无人机ID无人机-01
+ 任务ID#001
+ 状态🟢 飞行中
+ 当前位置A区街角12号
+ 剩余电量85%
+ 预计到达12:30
+ 📊 实时数据
+
+
+
+ 速度8.5m/s
+ 高度15m
+ 距离目标500m
+ 温度38°C
+ 📋 最近动态
+
+
+ 12:25:30 到达投放点
+ 12:20:45 接收任务指令
+ 12:10:00 任务分配
+
+
+
+
+ 📍 单兵终端APP - 位置更新
+
+
+
+
+
+
+
+
+
+ 📍 位置更新
+
+
+
+
+
+
+ 请求位置A区街角12号
+ 当前位置A区街角15号
+ 偏移距离50m
+ 偏移时间5分钟前
+
+
+
+
+
+ 🗺️
+ 地图区域
+
+
+
+ ⚠️ 注意事项
+ • 无人机距离新位置：约50米
+ • 无人机剩余电量：85%（可支持返回）
+
+
+
+
+
+
+
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+ 👤 单兵终端APP - 个人中心
+
+
+
+
+
+
+
+
+
+ 👤 个人中心
+
+
+
+
+
+
+ 👤
+ 前线士兵：张三
+ 所属：第3步兵师/1连 | 职位：狙击手
+ 📊 任务统计
+
+
+
+
+
+
+
+
+
+ 128
已完成
3
进行中
5
待处理
2
已取消
📋 功能菜单
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+
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+
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+ ⚙️ 单兵终端APP - 系统设置
+
+
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+
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+ ⚙️ 系统设置
+
+
+
+ 📋 常规设置
+
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+ 🔒 安全设置
+
+
+
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+
+
+ ℹ️ 关于
+
+
+
+ 版本v1.0.0
+ 开发者XXX团队
+
+
+ 🚨 紧急按钮
+
+
+
+
+
+ 🖥️ 后勤保障系统 - 任务调度
+
+
+
+ 待处理需求5
+ 执行中任务3
+ 已完成128
+ 无人机状态3空闲, 2飞行中
+ 📋 待处理需求列表
+
+
+
+
+ 任务ID#001
+ 人员张三
+ 物资20发弹药
+ 位置A区街角12号
+ 紧急程度🔴 紧急
+
+
+
+
+ 任务ID#002
+ 人员李四
+ 物资5份食物
+ 位置B区巷道5号
+
+
+
+
+ 📋 后勤保障系统 - 需求详情
+
+
+
+
+ 需求详情 #001
+
+
+
+
+
+ 📋 任务ID#2024-05-20-001
+ 提交时间12:00
+ 人员张三 (第3步兵师/1连)
+ 状态待调度
+ 📦 物资信息
+
+
+
+ 物品名称弹药
+ 数量20发
+ 紧急程度🔴 紧急
+ 📍 位置信息
+
+
+
+ 请求位置A区街角12号
+ 当前位置A区街角12号
+ ⚙️ 调度选项
+
+
+ 路径策略最安全 ← 选中
+ 无人机选择无人机-02
+ 预计到达时间12:28
+
+
+
+
+
+
+
+ 🚀 后勤保障系统 - 无人机状态监控
+
+
+
+
+ 🚀 无人机监控
+
+
+
+
+
+
+ 无人机ID无人机-01
+ 所属人员张三
+ 任务ID#001
+ 状态🟢 飞行中
+ 当前位置A区街角12号背侧
+ 剩余电量85%
+ 预计到达12:30
+ 📊 实时数据
+
+
+
+ 速度8.5m/s
+ 高度15m
+ 距离目标500m
+ 信号强度98%
+ ⚙️ 控制面板
+
+
+
+
+
+
+
+