同意

下步在 ui 界面中实现
抓紧 ui 界面的设计

CMakeLists.txt

@@ -121,12 +121,16 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(SOURCES
-    src/main.cpp
-    src/mainwindow.cpp
-    include/Air_Ground_CEC/mainwindow.hpp
-    src/mainwindow.ui
-    src/qnode.cpp
-    include/Air_Ground_CEC/qnode.hpp
+    src/include/qnode.hpp
+    src/include/roskeyboardteleopnode.h
+
+    src/main/main.cpp
+    src/main/mainwindow.cpp
+    src/main/qnode.cpp
+    src/main/roskeyboardteleopnode.cpp
+
+    src/ui/mainwindow.hpp
+    src/ui/mainwindow.ui
 )
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations

include/Air_Ground_CEC/qnode.hpp

@@ -1,8 +0,0 @@
-#include <opencv4/opencv2/core.hpp>
-#include <opencv4/opencv2/highgui.hpp>
-#include <opencv4/opencv2/imgproc.hpp>
-#include <image_transport/image_transport.h>
-#include <cv_bridge/cv_bridge.h>
-#include <QImage>
-
-

src/include/qnode.hpp

@@ -0,0 +1,8 @@
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <QImage>
+
+

src/include/roskeyboardteleopnode.h

@@ -0,0 +1,58 @@
+#ifndef ROSKEYBOARDTELEOPNODE_H
+#define ROSKEYBOARDTELEOPNODE_H
+
+#include <termios.h>
+#include <signal.h>
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/poll.h>
+
+#include <boost/thread/thread.hpp>
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+
+#define KEYCODE_W 0x77
+#define KEYCODE_A 0x61
+#define KEYCODE_S 0x73
+#define KEYCODE_D 0x64
+
+#define KEYCODE_A_CAP 0x41
+#define KEYCODE_D_CAP 0x44
+#define KEYCODE_S_CAP 0x53
+#define KEYCODE_W_CAP 0x57
+
+
+
+class RosKeyboardTeleopNode
+{
+private:
+    double walk_vel_;
+    double run_vel_;
+    double yaw_rate_;
+    double yaw_rate_run_;
+
+    geometry_msgs::Twist cmdvel_;
+    ros::NodeHandle n_;
+    ros::Publisher pub_;
+
+public:
+    RosKeyboardTeleopNode();
+
+    ~RosKeyboardTeleopNode() { }
+    void keyboardLoop();
+
+    void stopRobot()
+    {
+        cmdvel_.linear.x = 0.0;
+        cmdvel_.angular.z = 0.0;
+        pub_.publish(cmdvel_);
+    }
+};
+
+extern int kfd;
+extern struct termios cooked, raw;
+extern bool done;
+extern RosKeyboardTeleopNode* tbk;
+
+#endif // ROSKEYBOARDTELEOPNODE_H

src/main/main.cpp

@@ -0,0 +1,26 @@
+#include "../include/roskeyboardteleopnode.h"
+
+
+
+
+
+
+int main(int argc, char** argv)
+{
+    ros::init(argc,argv,"tbk", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
+    RosKeyboardTeleopNode tbk;
+
+    boost::thread t = boost::thread(boost::bind(&RosKeyboardTeleopNode::keyboardLoop, &tbk));
+
+    ros::spin();
+
+    t.interrupt();
+    t.join();
+    tbk.stopRobot();
+    tcsetattr(kfd, TCSANOW, &cooked);
+
+    return(0);
+}
+
+
+

src/main/mainwindow.cpp

@@ -1,5 +1,5 @@
-#include "../include/Air_Ground_CEC/mainwindow.hpp"
-#include "ui_mainwindow.h"
+#include "../ui/mainwindow.hpp"
+
 
 MainWindow::MainWindow(QWidget *parent) :
     QMainWindow(parent),

src/main/roskeyboardteleopnode.cpp

@@ -1,82 +1,23 @@
-#include <termios.h>
-#include <signal.h>
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <sys/poll.h>
+#include "../include/roskeyboardteleopnode.h"
 
-#include <boost/thread/thread.hpp>
-#include <ros/ros.h>
-#include <geometry_msgs/Twist.h>
-
-#define KEYCODE_W 0x77
-#define KEYCODE_A 0x61
-#define KEYCODE_S 0x73
-#define KEYCODE_D 0x64
-
-#define KEYCODE_A_CAP 0x41
-#define KEYCODE_D_CAP 0x44
-#define KEYCODE_S_CAP 0x53
-#define KEYCODE_W_CAP 0x57
-
-class SmartCarKeyboardTeleopNode
-{
-    private:
-        double walk_vel_;
-        double run_vel_;
-        double yaw_rate_;
-        double yaw_rate_run_;
-
-        geometry_msgs::Twist cmdvel_;
-        ros::NodeHandle n_;
-        ros::Publisher pub_;
-
-    public:
-        SmartCarKeyboardTeleopNode()
-        {
-            pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);
-
-            ros::NodeHandle n_private("~");
-            n_private.param("walk_vel", walk_vel_, 0.5);
-            n_private.param("run_vel", run_vel_, 1.0);
-            n_private.param("yaw_rate", yaw_rate_, 1.0);
-            n_private.param("yaw_rate_run", yaw_rate_run_, 1.5);
-        }
-
-        ~SmartCarKeyboardTeleopNode() { }
-        void keyboardLoop();
-
-        void stopRobot()
-        {
-            cmdvel_.linear.x = 0.0;
-            cmdvel_.angular.z = 0.0;
-            pub_.publish(cmdvel_);
-        }
-};
-
-SmartCarKeyboardTeleopNode* tbk;
 int kfd = 0;
 struct termios cooked, raw;
 bool done;
+RosKeyboardTeleopNode* tbk;
 
-int main(int argc, char** argv)
+RosKeyboardTeleopNode::RosKeyboardTeleopNode()
 {
-    ros::init(argc,argv,"tbk", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
-    SmartCarKeyboardTeleopNode tbk;
+    pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);
 
-    boost::thread t = boost::thread(boost::bind(&SmartCarKeyboardTeleopNode::keyboardLoop, &tbk));
-
-    ros::spin();
-
-    t.interrupt();
-    t.join();
-    tbk.stopRobot();
-    tcsetattr(kfd, TCSANOW, &cooked);
-
-    return(0);
+    ros::NodeHandle n_private("~");
+    n_private.param("walk_vel", walk_vel_, 0.5);
+    n_private.param("run_vel", run_vel_, 1.0);
+    n_private.param("yaw_rate", yaw_rate_, 1.0);
+    n_private.param("yaw_rate_run", yaw_rate_run_, 1.5);
 }
 
-void SmartCarKeyboardTeleopNode::keyboardLoop()
+
+void RosKeyboardTeleopNode::keyboardLoop()
 {
     char c;
     double max_tv = walk_vel_;

src/mainwindow.ui

@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>800</width>
-    <height>600</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>MainWindow</string>
-  </property>
-  <widget class="QWidget" name="centralwidget">
-   <widget class="QLabel" name="label">
-    <property name="geometry">
-     <rect>
-      <x>110</x>
-      <y>50</y>
-      <width>67</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>TextLabel</string>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QMenuBar" name="menubar">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>800</width>
-     <height>22</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QStatusBar" name="statusbar"/>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/build-Triplet-Desktop_Qt_5_13_1_GCC_64bit-Debug/.qmake.stash

@@ -1,23 +0,0 @@
-QMAKE_CXX.QT_COMPILER_STDCXX = 201703L
-QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 11
-QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 3
-QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 0
-QMAKE_CXX.COMPILER_MACROS = \
-    QT_COMPILER_STDCXX \
-    QMAKE_GCC_MAJOR_VERSION \
-    QMAKE_GCC_MINOR_VERSION \
-    QMAKE_GCC_PATCH_VERSION
-QMAKE_CXX.INCDIRS = \
-    /usr/include/c++/11 \
-    /usr/include/x86_64-linux-gnu/c++/11 \
-    /usr/include/c++/11/backward \
-    /usr/lib/gcc/x86_64-linux-gnu/11/include \
-    /usr/local/include \
-    /usr/include/x86_64-linux-gnu \
-    /usr/include
-QMAKE_CXX.LIBDIRS = \
-    /usr/lib/gcc/x86_64-linux-gnu/11 \
-    /usr/lib/x86_64-linux-gnu \
-    /usr/lib \
-    /lib/x86_64-linux-gnu \
-    /lib

src/ui/build-Triplet-Desktop_Qt_5_13_1_GCC_64bit-Debug/moc_mainwindow.cpp

@@ -1,128 +0,0 @@
-/****************************************************************************
-** Meta object code from reading C++ file 'mainwindow.h'
-**
-** Created by: The Qt Meta Object Compiler version 67 (Qt 5.13.1)
-**
-** WARNING! All changes made in this file will be lost!
-*****************************************************************************/
-
-#include <memory>
-#include "../Triplet/mainwindow.h"
-#include <QtCore/qbytearray.h>
-#include <QtCore/qmetatype.h>
-#if !defined(Q_MOC_OUTPUT_REVISION)
-#error "The header file 'mainwindow.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 67
-#error "This file was generated using the moc from 5.13.1. It"
-#error "cannot be used with the include files from this version of Qt."
-#error "(The moc has changed too much.)"
-#endif
-
-QT_BEGIN_MOC_NAMESPACE
-QT_WARNING_PUSH
-QT_WARNING_DISABLE_DEPRECATED
-struct qt_meta_stringdata_MainWindow_t {
-    QByteArrayData data[5];
-    char stringdata0[57];
-};
-#define QT_MOC_LITERAL(idx, ofs, len) \
-    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
-    qptrdiff(offsetof(qt_meta_stringdata_MainWindow_t, stringdata0) + ofs \
-        - idx * sizeof(QByteArrayData)) \
-    )
-static const qt_meta_stringdata_MainWindow_t qt_meta_stringdata_MainWindow = {
-    {
-QT_MOC_LITERAL(0, 0, 10), // "MainWindow"
-QT_MOC_LITERAL(1, 11, 11), // "importFrame"
-QT_MOC_LITERAL(2, 23, 0), // ""
-QT_MOC_LITERAL(3, 24, 15), // "on_PLAY_clicked"
-QT_MOC_LITERAL(4, 40, 16) // "on_CLOSE_clicked"
-
-    },
-    "MainWindow\0importFrame\0\0on_PLAY_clicked\0"
-    "on_CLOSE_clicked"
-};
-#undef QT_MOC_LITERAL
-
-static const uint qt_meta_data_MainWindow[] = {
-
- // content:
-       8,       // revision
-       0,       // classname
-       0,    0, // classinfo
-       3,   14, // methods
-       0,    0, // properties
-       0,    0, // enums/sets
-       0,    0, // constructors
-       0,       // flags
-       0,       // signalCount
-
- // slots: name, argc, parameters, tag, flags
-       1,    0,   29,    2, 0x08 /* Private */,
-       3,    0,   30,    2, 0x08 /* Private */,
-       4,    0,   31,    2, 0x08 /* Private */,
-
- // slots: parameters
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-
-       0        // eod
-};
-
-void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
-{
-    if (_c == QMetaObject::InvokeMetaMethod) {
-        auto *_t = static_cast<MainWindow *>(_o);
-        Q_UNUSED(_t)
-        switch (_id) {
-        case 0: _t->importFrame(); break;
-        case 1: _t->on_PLAY_clicked(); break;
-        case 2: _t->on_CLOSE_clicked(); break;
-        default: ;
-        }
-    }
-    Q_UNUSED(_a);
-}
-
-QT_INIT_METAOBJECT const QMetaObject MainWindow::staticMetaObject = { {
-    &QMainWindow::staticMetaObject,
-    qt_meta_stringdata_MainWindow.data,
-    qt_meta_data_MainWindow,
-    qt_static_metacall,
-    nullptr,
-    nullptr
-} };
-
-
-const QMetaObject *MainWindow::metaObject() const
-{
-    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
-}
-
-void *MainWindow::qt_metacast(const char *_clname)
-{
-    if (!_clname) return nullptr;
-    if (!strcmp(_clname, qt_meta_stringdata_MainWindow.stringdata0))
-        return static_cast<void*>(this);
-    return QMainWindow::qt_metacast(_clname);
-}
-
-int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
-{
-    _id = QMainWindow::qt_metacall(_c, _id, _a);
-    if (_id < 0)
-        return _id;
-    if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 3)
-            qt_static_metacall(this, _c, _id, _a);
-        _id -= 3;
-    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 3)
-            *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 3;
-    }
-    return _id;
-}
-QT_WARNING_POP
-QT_END_MOC_NAMESPACE

src/ui/build-Triplet-Desktop_Qt_5_13_1_GCC_64bit-Debug/moc_predefs.h

@@ -1,398 +0,0 @@
-#define __DBL_MIN_EXP__ (-1021)
-#define __cpp_attributes 200809L
-#define __UINT_LEAST16_MAX__ 0xffff
-#define __ATOMIC_ACQUIRE 2
-#define __FLT128_MAX_10_EXP__ 4932
-#define __FLT_MIN__ 1.17549435082228750796873653722224568e-38F
-#define __GCC_IEC_559_COMPLEX 2
-#define __UINT_LEAST8_TYPE__ unsigned char
-#define __SIZEOF_FLOAT80__ 16
-#define __INTMAX_C(c) c ## L
-#define __CHAR_BIT__ 8
-#define __UINT8_MAX__ 0xff
-#define __SCHAR_WIDTH__ 8
-#define __WINT_MAX__ 0xffffffffU
-#define __FLT32_MIN_EXP__ (-125)
-#define __cpp_static_assert 200410L
-#define __ORDER_LITTLE_ENDIAN__ 1234
-#define __SIZE_MAX__ 0xffffffffffffffffUL
-#define __WCHAR_MAX__ 0x7fffffff
-#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_1 1
-#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_2 1
-#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_4 1
-#define __DBL_DENORM_MIN__ double(4.94065645841246544176568792868221372e-324L)
-#define __GCC_HAVE_SYNC_COMPARE_AND_SWAP_8 1
-#define __GCC_ATOMIC_CHAR_LOCK_FREE 2
-#define __GCC_IEC_559 2
-#define __FLT32X_DECIMAL_DIG__ 17
-#define __FLT_EVAL_METHOD__ 0
-#define __cpp_binary_literals 201304L
-#define __FLT64_DECIMAL_DIG__ 17
-#define __GCC_ATOMIC_CHAR32_T_LOCK_FREE 2
-#define __cpp_variadic_templates 200704L
-#define __UINT_FAST64_MAX__ 0xffffffffffffffffUL
-#define __SIG_ATOMIC_TYPE__ int
-#define __DBL_MIN_10_EXP__ (-307)
-#define __FINITE_MATH_ONLY__ 0
-#define __FLT32X_MAX_EXP__ 1024
-#define __FLT32_HAS_DENORM__ 1
-#define __UINT_FAST8_MAX__ 0xff
-#define __cpp_rvalue_reference 200610L
-#define __FLT32_MAX_10_EXP__ 38
-#define __DEC64_MAX_EXP__ 385
-#define __INT8_C(c) c
-#define __INT_LEAST8_WIDTH__ 8
-#define __UINT_LEAST64_MAX__ 0xffffffffffffffffUL
-#define __INT_LEAST8_MAX__ 0x7f
-#define __SHRT_MAX__ 0x7fff
-#define __LDBL_MAX__ 1.18973149535723176502126385303097021e+4932L
-#define __FLT64X_MAX_10_EXP__ 4932
-#define __LDBL_IS_IEC_60559__ 2
-#define __FLT64X_HAS_QUIET_NAN__ 1
-#define __UINT_LEAST8_MAX__ 0xff
-#define __GCC_ATOMIC_BOOL_LOCK_FREE 2
-#define __FLT128_DENORM_MIN__ 6.47517511943802511092443895822764655e-4966F128
-#define __UINTMAX_TYPE__ long unsigned int
-#define __linux 1
-#define __DEC32_EPSILON__ 1E-6DF
-#define __FLT_EVAL_METHOD_TS_18661_3__ 0
-#define __unix 1
-#define __UINT32_MAX__ 0xffffffffU
-#define __GXX_EXPERIMENTAL_CXX0X__ 1
-#define __FLT128_MIN_EXP__ (-16381)
-#define __WINT_MIN__ 0U
-#define __FLT128_MIN_10_EXP__ (-4931)
-#define __FLT32X_IS_IEC_60559__ 2
-#define __INT_LEAST16_WIDTH__ 16
-#define __SCHAR_MAX__ 0x7f
-#define __FLT128_MANT_DIG__ 113
-#define __WCHAR_MIN__ (-__WCHAR_MAX__ - 1)
-#define __INT64_C(c) c ## L
-#define __GCC_ATOMIC_POINTER_LOCK_FREE 2
-#define __FLT32X_MANT_DIG__ 53
-#define __GCC_ATOMIC_CHAR16_T_LOCK_FREE 2
-#define __USER_LABEL_PREFIX__ 
-#define __FLT64X_EPSILON__ 1.08420217248550443400745280086994171e-19F64x
-#define __STDC_HOSTED__ 1
-#define __DEC64_MIN_EXP__ (-382)
-#define __DBL_DIG__ 15
-#define __FLT32_DIG__ 6
-#define __FLT_EPSILON__ 1.19209289550781250000000000000000000e-7F
-#define __GXX_WEAK__ 1
-#define __SHRT_WIDTH__ 16
-#define __FLT32_IS_IEC_60559__ 2
-#define __LDBL_MIN__ 3.36210314311209350626267781732175260e-4932L
-#define __DBL_IS_IEC_60559__ 2
-#define __DEC32_MAX__ 9.999999E96DF
-#define __cpp_threadsafe_static_init 200806L
-#define __FLT64X_DENORM_MIN__ 3.64519953188247460252840593361941982e-4951F64x
-#define __FLT32X_HAS_INFINITY__ 1
-#define __INT32_MAX__ 0x7fffffff
-#define __unix__ 1
-#define __INT_WIDTH__ 32
-#define __SIZEOF_LONG__ 8
-#define __STDC_IEC_559__ 1
-#define __STDC_ISO_10646__ 201706L
-#define __UINT16_C(c) c
-#define __DECIMAL_DIG__ 21
-#define __STDC_IEC_559_COMPLEX__ 1
-#define __FLT64_EPSILON__ 2.22044604925031308084726333618164062e-16F64
-#define __gnu_linux__ 1
-#define __INT16_MAX__ 0x7fff
-#define __FLT64_MIN_EXP__ (-1021)
-#define __FLT64X_MIN_10_EXP__ (-4931)
-#define __LDBL_HAS_QUIET_NAN__ 1
-#define __FLT64_MANT_DIG__ 53
-#define __FLT64X_MANT_DIG__ 64
-#define __GNUC__ 11
-#define __GXX_RTTI 1
-#define __pie__ 2
-#define __MMX__ 1
-#define __FLT_HAS_DENORM__ 1
-#define __SIZEOF_LONG_DOUBLE__ 16
-#define __BIGGEST_ALIGNMENT__ 16
-#define __STDC_UTF_16__ 1
-#define __FLT64_MAX_10_EXP__ 308
-#define __cpp_delegating_constructors 200604L
-#define __FLT32_HAS_INFINITY__ 1
-#define __DBL_MAX__ double(1.79769313486231570814527423731704357e+308L)
-#define __cpp_raw_strings 200710L
-#define __INT_FAST32_MAX__ 0x7fffffffffffffffL
-#define __DBL_HAS_INFINITY__ 1
-#define __SIZEOF_FLOAT__ 4
-#define __HAVE_SPECULATION_SAFE_VALUE 1
-#define __DEC32_MIN_EXP__ (-94)
-#define __INTPTR_WIDTH__ 64
-#define __FLT64X_HAS_INFINITY__ 1
-#define __UINT_LEAST32_MAX__ 0xffffffffU
-#define __FLT32X_HAS_DENORM__ 1
-#define __INT_FAST16_TYPE__ long int
-#define __MMX_WITH_SSE__ 1
-#define __LDBL_HAS_DENORM__ 1
-#define __cplusplus 201103L
-#define __cpp_ref_qualifiers 200710L
-#define __DEC32_MIN__ 1E-95DF
-#define __DEPRECATED 1
-#define __cpp_rvalue_references 200610L
-#define __DBL_MAX_EXP__ 1024
-#define __WCHAR_WIDTH__ 32
-#define __FLT32_MAX__ 3.40282346638528859811704183484516925e+38F32
-#define __DEC128_EPSILON__ 1E-33DL
-#define __SSE2_MATH__ 1
-#define __ATOMIC_HLE_RELEASE 131072
-#define __PTRDIFF_MAX__ 0x7fffffffffffffffL
-#define __amd64 1
-#define __ATOMIC_HLE_ACQUIRE 65536
-#define __GNUG__ 11
-#define __LONG_LONG_MAX__ 0x7fffffffffffffffLL
-#define __SIZEOF_SIZE_T__ 8
-#define __cpp_nsdmi 200809L
-#define __FLT64X_MIN_EXP__ (-16381)
-#define __SIZEOF_WINT_T__ 4
-#define __LONG_LONG_WIDTH__ 64
-#define __cpp_initializer_lists 200806L
-#define __FLT32_MAX_EXP__ 128
-#define __cpp_hex_float 201603L
-#define __GXX_ABI_VERSION 1016
-#define __FLT128_HAS_INFINITY__ 1
-#define __FLT_MIN_EXP__ (-125)
-#define __GCC_HAVE_DWARF2_CFI_ASM 1
-#define __x86_64 1
-#define __cpp_lambdas 200907L
-#define __INT_FAST64_TYPE__ long int
-#define __FLT64_DENORM_MIN__ 4.94065645841246544176568792868221372e-324F64
-#define __DBL_MIN__ double(2.22507385850720138309023271733240406e-308L)
-#define __FLT128_EPSILON__ 1.92592994438723585305597794258492732e-34F128
-#define __FLT64X_NORM_MAX__ 1.18973149535723176502126385303097021e+4932F64x
-#define __SIZEOF_POINTER__ 8
-#define __LP64__ 1
-#define __DBL_HAS_QUIET_NAN__ 1
-#define __FLT32X_EPSILON__ 2.22044604925031308084726333618164062e-16F32x
-#define __DECIMAL_BID_FORMAT__ 1
-#define __FLT64_MIN_10_EXP__ (-307)
-#define __FLT64X_DECIMAL_DIG__ 21
-#define __DEC128_MIN__ 1E-6143DL
-#define __REGISTER_PREFIX__ 
-#define __UINT16_MAX__ 0xffff
-#define __LDBL_HAS_INFINITY__ 1
-#define __FLT32_MIN__ 1.17549435082228750796873653722224568e-38F32
-#define __UINT8_TYPE__ unsigned char
-#define __FLT_DIG__ 6
-#define __NO_INLINE__ 1
-#define __DEC_EVAL_METHOD__ 2
-#define __DEC128_MAX__ 9.999999999999999999999999999999999E6144DL
-#define __FLT_MANT_DIG__ 24
-#define __LDBL_DECIMAL_DIG__ 21
-#define __VERSION__ "11.3.0"
-#define __UINT64_C(c) c ## UL
-#define __cpp_unicode_characters 200704L
-#define _STDC_PREDEF_H 1
-#define __INT_LEAST32_MAX__ 0x7fffffff
-#define __GCC_ATOMIC_INT_LOCK_FREE 2
-#define __FLT128_MAX_EXP__ 16384
-#define __FLT32_MANT_DIG__ 24
-#define __FLOAT_WORD_ORDER__ __ORDER_LITTLE_ENDIAN__
-#define __FLT128_HAS_DENORM__ 1
-#define __FLT32_DECIMAL_DIG__ 9
-#define __FLT128_DIG__ 33
-#define __INT32_C(c) c
-#define __DEC64_EPSILON__ 1E-15DD
-#define __ORDER_PDP_ENDIAN__ 3412
-#define __DEC128_MIN_EXP__ (-6142)
-#define __INT_FAST32_TYPE__ long int
-#define __UINT_LEAST16_TYPE__ short unsigned int
-#define unix 1
-#define __DBL_HAS_DENORM__ 1
-#define __cpp_rtti 199711L
-#define __SIZE_TYPE__ long unsigned int
-#define __UINT64_MAX__ 0xffffffffffffffffUL
-#define __FLT_IS_IEC_60559__ 2
-#define __GNUC_WIDE_EXECUTION_CHARSET_NAME "UTF-32LE"
-#define __FLT64X_DIG__ 18
-#define __INT8_TYPE__ signed char
-#define __ELF__ 1
-#define __GCC_ASM_FLAG_OUTPUTS__ 1
-#define __UINT32_TYPE__ unsigned int
-#define __FLT_RADIX__ 2
-#define __INT_LEAST16_TYPE__ short int
-#define __LDBL_EPSILON__ 1.08420217248550443400745280086994171e-19L
-#define __UINTMAX_C(c) c ## UL
-#define __GLIBCXX_BITSIZE_INT_N_0 128
-#define __k8 1
-#define __FLT32X_MIN__ 2.22507385850720138309023271733240406e-308F32x
-#define __SIG_ATOMIC_MAX__ 0x7fffffff
-#define __GCC_ATOMIC_WCHAR_T_LOCK_FREE 2
-#define __SIZEOF_PTRDIFF_T__ 8
-#define __LDBL_DIG__ 18
-#define __FLT64_IS_IEC_60559__ 2
-#define __x86_64__ 1
-#define __FLT32X_MIN_EXP__ (-1021)
-#define __DEC32_SUBNORMAL_MIN__ 0.000001E-95DF
-#define __INT_FAST16_MAX__ 0x7fffffffffffffffL
-#define __FLT64_DIG__ 15
-#define __UINT_FAST32_MAX__ 0xffffffffffffffffUL
-#define __UINT_LEAST64_TYPE__ long unsigned int
-#define __FLT_HAS_QUIET_NAN__ 1
-#define __FLT_MAX_10_EXP__ 38
-#define __LONG_MAX__ 0x7fffffffffffffffL
-#define __FLT64X_HAS_DENORM__ 1
-#define __DEC128_SUBNORMAL_MIN__ 0.000000000000000000000000000000001E-6143DL
-#define __FLT_HAS_INFINITY__ 1
-#define __GNUC_EXECUTION_CHARSET_NAME "UTF-8"
-#define __cpp_unicode_literals 200710L
-#define __UINT_FAST16_TYPE__ long unsigned int
-#define __DEC64_MAX__ 9.999999999999999E384DD
-#define __INT_FAST32_WIDTH__ 64
-#define __CHAR16_TYPE__ short unsigned int
-#define __PRAGMA_REDEFINE_EXTNAME 1
-#define __SIZE_WIDTH__ 64
-#define __SEG_FS 1
-#define __INT_LEAST16_MAX__ 0x7fff
-#define __DEC64_MANT_DIG__ 16
-#define __INT64_MAX__ 0x7fffffffffffffffL
-#define __SEG_GS 1
-#define __FLT32_DENORM_MIN__ 1.40129846432481707092372958328991613e-45F32
-#define __SIG_ATOMIC_WIDTH__ 32
-#define __INT_LEAST64_TYPE__ long int
-#define __INT16_TYPE__ short int
-#define __INT_LEAST8_TYPE__ signed char
-#define __SIZEOF_INT__ 4
-#define __DEC32_MAX_EXP__ 97
-#define __INT_FAST8_MAX__ 0x7f
-#define __FLT128_MAX__ 1.18973149535723176508575932662800702e+4932F128
-#define __INTPTR_MAX__ 0x7fffffffffffffffL
-#define linux 1
-#define __FLT64_HAS_QUIET_NAN__ 1
-#define __FLT32_MIN_10_EXP__ (-37)
-#define __EXCEPTIONS 1
-#define __PTRDIFF_WIDTH__ 64
-#define __LDBL_MANT_DIG__ 64
-#define __cpp_range_based_for 200907L
-#define __FLT64_HAS_INFINITY__ 1
-#define __FLT64X_MAX__ 1.18973149535723176502126385303097021e+4932F64x
-#define __SIG_ATOMIC_MIN__ (-__SIG_ATOMIC_MAX__ - 1)
-#define __code_model_small__ 1
-#define __GCC_ATOMIC_LONG_LOCK_FREE 2
-#define __DEC32_MANT_DIG__ 7
-#define __k8__ 1
-#define __INTPTR_TYPE__ long int
-#define __UINT16_TYPE__ short unsigned int
-#define __WCHAR_TYPE__ int
-#define __pic__ 2
-#define __UINTPTR_MAX__ 0xffffffffffffffffUL
-#define __INT_FAST64_WIDTH__ 64
-#define __cpp_decltype 200707L
-#define __INT_FAST64_MAX__ 0x7fffffffffffffffL
-#define __GCC_ATOMIC_TEST_AND_SET_TRUEVAL 1
-#define __FLT_NORM_MAX__ 3.40282346638528859811704183484516925e+38F
-#define __FLT64X_MAX_EXP__ 16384
-#define __UINT_FAST64_TYPE__ long unsigned int
-#define __INT_MAX__ 0x7fffffff
-#define __linux__ 1
-#define __INT64_TYPE__ long int
-#define __FLT_MAX_EXP__ 128
-#define __ORDER_BIG_ENDIAN__ 4321
-#define __DBL_MANT_DIG__ 53
-#define __cpp_inheriting_constructors 201511L
-#define __SIZEOF_FLOAT128__ 16
-#define __INT_LEAST64_MAX__ 0x7fffffffffffffffL
-#define __DEC64_MIN__ 1E-383DD
-#define __WINT_TYPE__ unsigned int
-#define __UINT_LEAST32_TYPE__ unsigned int
-#define __SIZEOF_SHORT__ 2
-#define __FLT32_NORM_MAX__ 3.40282346638528859811704183484516925e+38F32
-#define __SSE__ 1
-#define __LDBL_MIN_EXP__ (-16381)
-#define __FLT64_MAX__ 1.79769313486231570814527423731704357e+308F64
-#define __amd64__ 1
-#define __WINT_WIDTH__ 32
-#define __INT_LEAST64_WIDTH__ 64
-#define __LDBL_MAX_EXP__ 16384
-#define __FLT32X_MAX_10_EXP__ 308
-#define __SIZEOF_INT128__ 16
-#define __FLT64X_IS_IEC_60559__ 2
-#define __LDBL_MAX_10_EXP__ 4932
-#define __ATOMIC_RELAXED 0
-#define __DBL_EPSILON__ double(2.22044604925031308084726333618164062e-16L)
-#define __FLT128_MIN__ 3.36210314311209350626267781732175260e-4932F128
-#define _LP64 1
-#define __UINT8_C(c) c
-#define __FLT64_MAX_EXP__ 1024
-#define __INT_LEAST32_TYPE__ int
-#define __SIZEOF_WCHAR_T__ 4
-#define __GNUC_PATCHLEVEL__ 0
-#define __FLT128_NORM_MAX__ 1.18973149535723176508575932662800702e+4932F128
-#define __FLT64_NORM_MAX__ 1.79769313486231570814527423731704357e+308F64
-#define __FLT128_HAS_QUIET_NAN__ 1
-#define __INTMAX_MAX__ 0x7fffffffffffffffL
-#define __INT_FAST8_TYPE__ signed char
-#define __FLT64X_MIN__ 3.36210314311209350626267781732175260e-4932F64x
-#define __STDCPP_THREADS__ 1
-#define __GNUC_STDC_INLINE__ 1
-#define __FLT64_HAS_DENORM__ 1
-#define __FLT32_EPSILON__ 1.19209289550781250000000000000000000e-7F32
-#define __DBL_DECIMAL_DIG__ 17
-#define __STDC_UTF_32__ 1
-#define __INT_FAST8_WIDTH__ 8
-#define __FXSR__ 1
-#define __FLT32X_MAX__ 1.79769313486231570814527423731704357e+308F32x
-#define __DBL_NORM_MAX__ double(1.79769313486231570814527423731704357e+308L)
-#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
-#define __INTMAX_WIDTH__ 64
-#define __cpp_runtime_arrays 198712L
-#define __UINT64_TYPE__ long unsigned int
-#define __UINT32_C(c) c ## U
-#define __cpp_alias_templates 200704L
-#define __FLT_DENORM_MIN__ 1.40129846432481707092372958328991613e-45F
-#define __FLT128_IS_IEC_60559__ 2
-#define __INT8_MAX__ 0x7f
-#define __LONG_WIDTH__ 64
-#define __PIC__ 2
-#define __UINT_FAST32_TYPE__ long unsigned int
-#define __FLT32X_NORM_MAX__ 1.79769313486231570814527423731704357e+308F32x
-#define __CHAR32_TYPE__ unsigned int
-#define __FLT_MAX__ 3.40282346638528859811704183484516925e+38F
-#define __cpp_constexpr 200704L
-#define __SSE2__ 1
-#define __INT32_TYPE__ int
-#define __SIZEOF_DOUBLE__ 8
-#define __cpp_exceptions 199711L
-#define __FLT_MIN_10_EXP__ (-37)
-#define __FLT64_MIN__ 2.22507385850720138309023271733240406e-308F64
-#define __INT_LEAST32_WIDTH__ 32
-#define __INTMAX_TYPE__ long int
-#define __DEC128_MAX_EXP__ 6145
-#define __FLT32X_HAS_QUIET_NAN__ 1
-#define __ATOMIC_CONSUME 1
-#define __GNUC_MINOR__ 3
-#define __GLIBCXX_TYPE_INT_N_0 __int128
-#define __INT_FAST16_WIDTH__ 64
-#define __UINTMAX_MAX__ 0xffffffffffffffffUL
-#define __PIE__ 2
-#define __FLT32X_DENORM_MIN__ 4.94065645841246544176568792868221372e-324F32x
-#define __DBL_MAX_10_EXP__ 308
-#define __LDBL_DENORM_MIN__ 3.64519953188247460252840593361941982e-4951L
-#define __INT16_C(c) c
-#define __STDC__ 1
-#define __FLT32X_DIG__ 15
-#define __PTRDIFF_TYPE__ long int
-#define __ATOMIC_SEQ_CST 5
-#define __FLT32X_MIN_10_EXP__ (-307)
-#define __UINTPTR_TYPE__ long unsigned int
-#define __DEC64_SUBNORMAL_MIN__ 0.000000000000001E-383DD
-#define __DEC128_MANT_DIG__ 34
-#define __LDBL_MIN_10_EXP__ (-4931)
-#define __SSE_MATH__ 1
-#define __SIZEOF_LONG_LONG__ 8
-#define __cpp_user_defined_literals 200809L
-#define __FLT128_DECIMAL_DIG__ 36
-#define __GCC_ATOMIC_LLONG_LOCK_FREE 2
-#define __FLT32_HAS_QUIET_NAN__ 1
-#define __FLT_DECIMAL_DIG__ 9
-#define __UINT_FAST16_MAX__ 0xffffffffffffffffUL
-#define __LDBL_NORM_MAX__ 1.18973149535723176502126385303097021e+4932L
-#define __GCC_ATOMIC_SHORT_LOCK_FREE 2
-#define __UINT_FAST8_TYPE__ unsigned char
-#define _GNU_SOURCE 1
-#define __ATOMIC_ACQ_REL 4
-#define __ATOMIC_RELEASE 3

src/ui/build-Triplet-Desktop_Qt_5_13_1_GCC_64bit-Debug/ui_mainwindow.h

@@ -1,79 +0,0 @@
-/********************************************************************************
-** Form generated from reading UI file 'mainwindow.ui'
-**
-** Created by: Qt User Interface Compiler version 5.13.1
-**
-** WARNING! All changes made in this file will be lost when recompiling UI file!
-********************************************************************************/
-
-#ifndef UI_MAINWINDOW_H
-#define UI_MAINWINDOW_H
-
-#include <QtCore/QVariant>
-#include <QtWidgets/QApplication>
-#include <QtWidgets/QLabel>
-#include <QtWidgets/QMainWindow>
-#include <QtWidgets/QMenuBar>
-#include <QtWidgets/QPushButton>
-#include <QtWidgets/QStatusBar>
-#include <QtWidgets/QWidget>
-
-QT_BEGIN_NAMESPACE
-
-class Ui_MainWindow
-{
-public:
-    QWidget *centralwidget;
-    QPushButton *CLOSE;
-    QPushButton *PLAY;
-    QLabel *label;
-    QMenuBar *menubar;
-    QStatusBar *statusbar;
-
-    void setupUi(QMainWindow *MainWindow)
-    {
-        if (MainWindow->objectName().isEmpty())
-            MainWindow->setObjectName(QString::fromUtf8("MainWindow"));
-        MainWindow->resize(1280, 768);
-        centralwidget = new QWidget(MainWindow);
-        centralwidget->setObjectName(QString::fromUtf8("centralwidget"));
-        CLOSE = new QPushButton(centralwidget);
-        CLOSE->setObjectName(QString::fromUtf8("CLOSE"));
-        CLOSE->setGeometry(QRect(1100, 440, 80, 25));
-        PLAY = new QPushButton(centralwidget);
-        PLAY->setObjectName(QString::fromUtf8("PLAY"));
-        PLAY->setGeometry(QRect(1100, 250, 80, 25));
-        label = new QLabel(centralwidget);
-        label->setObjectName(QString::fromUtf8("label"));
-        label->setGeometry(QRect(130, 90, 731, 461));
-        MainWindow->setCentralWidget(centralwidget);
-        menubar = new QMenuBar(MainWindow);
-        menubar->setObjectName(QString::fromUtf8("menubar"));
-        menubar->setGeometry(QRect(0, 0, 1280, 22));
-        MainWindow->setMenuBar(menubar);
-        statusbar = new QStatusBar(MainWindow);
-        statusbar->setObjectName(QString::fromUtf8("statusbar"));
-        MainWindow->setStatusBar(statusbar);
-
-        retranslateUi(MainWindow);
-
-        QMetaObject::connectSlotsByName(MainWindow);
-    } // setupUi
-
-    void retranslateUi(QMainWindow *MainWindow)
-    {
-        MainWindow->setWindowTitle(QCoreApplication::translate("MainWindow", "MainWindow", nullptr));
-        CLOSE->setText(QCoreApplication::translate("MainWindow", "CLOSE", nullptr));
-        PLAY->setText(QCoreApplication::translate("MainWindow", "PLAY", nullptr));
-        label->setText(QString());
-    } // retranslateUi
-
-};
-
-namespace Ui {
-    class MainWindow: public Ui_MainWindow {};
-} // namespace Ui
-
-QT_END_NAMESPACE
-
-#endif // UI_MAINWINDOW_H

src/ui/mainwindow.hpp

@@ -2,9 +2,7 @@
 #define MAINWINDOW_H
 
 #include <QMainWindow>
-#include <QImage>
-#include <QMutex>
-
+#include "ui_mainwindow.h"
 namespace Ui {
 class MainWindow;
 }
@@ -16,13 +14,9 @@ class MainWindow : public QMainWindow
 public:
     explicit MainWindow(QWidget *parent = nullptr);
     ~MainWindow();
-    void updateLogcamera();
-    void displayCamera(const QImage& image);
+
 private:
     Ui::MainWindow *ui;
-    //QNode qnode;
-    QImage qimage_;
-    mutable QMutex qinmage_mutex_;
 };
 
 #endif // MAINWINDOW_H

src/ui/mainwindow.ui

@@ -0,0 +1,24 @@
+<ui version="4.0">
+ <author/>
+ <comment/>
+ <exportmacro/>
+ <class>MainWindow</class>
+ <widget name="MainWindow" class="QMainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget name="menubar" class="QMenuBar"/>
+  <widget name="centralwidget" class="QWidget"/>
+  <widget name="statusbar" class="QStatusBar"/>
+ </widget>
+ <pixmapfunction/>
+ <connections/>
+</ui>