diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 3bf70e5..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,233 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(Air_Ground_CEC)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- std_msgs
- cv_bridge
- image_transport
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installedsudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES Air_Ground_CEC
-# CATKIN_DEPENDS roscpp
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-find_package(OpenCV REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets )
-set(CMAKE_AUTOMOC ON)
-set(CMAKE_AUTOUIC ON)
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
-
-set(SOURCES
- src/include/qnode.hpp
-
-
- src/main/main.cpp
- src/main/mainwindow.cpp
- src/main/qnode.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_directories(
- include/Air_Ground_CEC
- ${catkin_INCLUDE_DIRS}
- ${OpenCV_INCLUDE_DIRS}
-)
-
-add_executable(Air_Ground_CEC ${SOURCES})
-target_link_libraries(Air_Ground_CEC
- Qt5::Widgets
- ${catkin_LIBRARIES}
- ${OpenCV_LIBRARIES}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/Air_Ground_CEC.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/Air_Ground_CEC_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_Air_Ground_CEC.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/README.md b/README.md
deleted file mode 100644
index 0d88f33..0000000
--- a/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Air-ground-CEC
-
-test
\ No newline at end of file
diff --git a/model/UML设计图.vsdx b/model/UML设计图.vsdx
deleted file mode 100755
index ac1e19d..0000000
Binary files a/model/UML设计图.vsdx and /dev/null differ
diff --git a/package.xml b/package.xml
deleted file mode 100644
index 9c40002..0000000
--- a/package.xml
+++ /dev/null
@@ -1,73 +0,0 @@
-
-
- Air_Ground_CEC
- 0.1.0
- The Air_Ground_CEC package
-
-
-
-
- jackyma
-
-
-
-
-
- Apache 2.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- catkin
- roscpp
- roscpp
- roscpp
-
- opencv2
- opencv2
- opencv2
-
- message_generation
- message_generation
- message_runtime
-
- std_msgs sensor_msgs cv_bridge image_transport
- std_msgs sensor_msgs cv_bridge image_transport
- std_msgs sensor_msgs cv_bridge image_transport
-
-
-
-
-
-
-
diff --git a/src/Djitellowhite/Djitellowhite.cpp b/src/Djitellowhite/Djitellowhite.cpp
deleted file mode 100644
index c8a8f52..0000000
--- a/src/Djitellowhite/Djitellowhite.cpp
+++ /dev/null
@@ -1,146 +0,0 @@
-#include"Djitellowhite.h"
-#include
-#include
-
-
-#include
-#include
-#include
-
-#include
-#include
-
-using namespace cv;
-using namespace std;
-Tello::Tello(const char* IP) {
- this->stream_on=false;
- this->host = inet_addr(IP);
- cout << "create successfully!" << endl;
-
-}
-Tello::~Tello() {}
-void Tello::set_conf(int socket){
- this->sock = socket;
-}
-void Tello::get_connect(sockaddr_in serveraddr) {
- char tmp[10] = {"command"};
- send_message(tmp,serveraddr,0);// 0 -> timeout
- cout << "connect successfully!" <host;
-}
-void Tello::takeoff(sockaddr_in serveraddr) {
- char tmp[10] = {"takeoff"};
- send_message(tmp,serveraddr,0);// 0 -> timeout
- cout << "takeoff successfully!" < timeout
- cout << "land successfully!" <sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr));
- return true;
-}
-void* Tello::udp_response_receiver(void* arg){
- //int m_SockServer; //创建socket对象
- //sockaddr_in serveraddr; //创建sockaddr_in对象储存自身信息(当有多个端口，可以多个绑定)
- //sockaddr_in serveraddrfrom;
-
- //serveraddr.sin_family = AF_INET; //设置服务器地址家族
- //serveraddr.sin_port = htons(8889); //设置服务器端口号
- //serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0");
- //m_SockServer = socket(AF_INET, SOCK_DGRAM, 0); //创建一个临时变量并赋值给m_SockServer
- //int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr)); //把名字和套接字绑定
- //std::cout << "bind:" << i << std::endl;
-
- int socket = *(int *)arg;
-
- cout << "receive start" << endl;
- while(1){
- char buffer[20];
- int iret;
- memset(buffer,0,sizeof(buffer));
-
- iret = recv(socket, buffer,20,MSG_WAITALL);
- if(iret > 0 && iret <10){
- printf("Message from tello: %s\n", buffer);
- }
- }
-}
-void Tello::forward(sockaddr_in serveraddr){
- char tmp[15] = {"forward 20"};
- send_message(tmp,serveraddr,0);// 0 -> timeout
- cout << "forward successfully!" < timeout
- cout << "back successfully!" < timeout
- cout << "left successfully!" < timeout
- cout << "right successfully!" < timeout
- cout << "up successfully!" < timeout
- cout << "down successfully!" < timeout
- cout << "cw successfully!" < timeout
- cout << "ccw successfully!" <stream_on = true;
-
- cout << "vid";
- VideoCapture cap("udp://@0.0.0.0:11111");
- cout << "cap";
- if(!cap.isOpened()){
- cout << "fuck off";
- return;
- }
-
- Mat frame;
- cout << "continue!";
- while(1){
- cap>>frame;
- if(frame.empty())
- break;
- imshow("video",frame);
- waitKey(20);
-
- }
- cap.release();
-
-
-}
diff --git a/src/Djitellowhite/Djitellowhite.h b/src/Djitellowhite/Djitellowhite.h
deleted file mode 100644
index bfaa936..0000000
--- a/src/Djitellowhite/Djitellowhite.h
+++ /dev/null
@@ -1,80 +0,0 @@
-#ifndef _DJITELLOWHITE_H
-#define _DJITELLOWHITE_H
-#include
-#include
-#include
-#include
-#include
-#include
-/*Library for interacting with DJI Ryze Tello drones.*/
-
-
-//coding = utf - 8
-
-/* """C++ wrapper to interact with the Ryze Tello drone using the official Tello api.
- Tello API documentation:
- [1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf)
-*/
-
-#define RESPONSE_TIMEOUT 7 //in seconds
-#define TAKEOFF_TIMEOUT 20 //in seconds
-#define FRAME_GRAB_TIMEOUT 3
-#define TIME_BTW_COMMANDS 0.1 //in seconds
-#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds
-#define RETRY_COUNT 3 //number of retries after a failed command
-
-
-//Video stream, server socket
-#define VS_UDP_IP "0.0.0.0"
-#define VS_UDP_PORT 11111
-
-#define CONTROL_UDP_PORT 8889
-#define STATE_UDP_PORT 8890
-
-#define BUFFER_SIZE 1024
-//Constants for video settings
-#define BITRATE_AUTO 0
-#define BITRATE_1MBPS 1
-#define BITRATE_2MBPS 2
-#define BITRATE_3MBPS 3
-#define BITRATE_4MBPS 4
-#define BITRATE_5MBPS 5
-#define RESOLUTION_480P "low"
-#define RESOLUTION_720P "high"
-#define FPS_5 "low"
-#define FPS_15 "middle"
-#define FPS_30 "high"
-#define CAMERA_FORWARD 0
-#define CAMERA_DOWNWARD 1
-//日志模块暂时不写
-
-class Tello {
-private:
- int sock;
- bool stream_on;
- unsigned long host;
-public:
- Tello(const char* IP);
- ~Tello();
- void set_conf(int socket);
- unsigned long gethost();
- void get_connect(sockaddr_in serveraddr);
- void takeoff(sockaddr_in serveraddr);
- void land(sockaddr_in serveraddr);
- void forward(sockaddr_in serveraddr);
- void back(sockaddr_in serveraddr);
- void left(sockaddr_in serveraddr);
- void right(sockaddr_in serveraddr);
- void up(sockaddr_in serveraddr);
- void down(sockaddr_in serveraddr);
- void cw(sockaddr_in serveraddr);
- void ccw(sockaddr_in serveraddr);
- bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT);
- static void *udp_response_receiver(void* arg);
- void get_video(sockaddr_in serveraddr);
-};
-
-
-
-
-#endif
diff --git a/src/Djitellowhite/Djitellowhite.o b/src/Djitellowhite/Djitellowhite.o
deleted file mode 100644
index 12a9638..0000000
Binary files a/src/Djitellowhite/Djitellowhite.o and /dev/null differ
diff --git a/src/Djitellowhite/Hardwarelistener.h b/src/Djitellowhite/Hardwarelistener.h
deleted file mode 100644
index 599fa82..0000000
--- a/src/Djitellowhite/Hardwarelistener.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef _HARDWARELISTENER_H
-#define _HARDWARELISTENER_H
-#include "Djitellowhite.h"
-int listenkeyboard(Tello T,sockaddr_in serveraddr);
-int scanKeyboard();
-#endif
diff --git a/src/Djitellowhite/Triplet.cpp b/src/Djitellowhite/Triplet.cpp
deleted file mode 100644
index 9c0ef65..0000000
--- a/src/Djitellowhite/Triplet.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include"Djitellowhite.h"
-#include"Hardwarelistener.h"
-#include
-using namespace std;
-int main(void){
- Tello T("192.168.10.1");
- int socket_fd, err;
-
- if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
- {
- cout << "initialized error" << endl;
- cout << 0;
- return -1;
- }
-
- //cout << 1 << socket_fd;
- T.set_conf(socket_fd);
-
- pthread_t thread_receive;
- err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
- sleep(3);
- struct sockaddr_in serveraddr;
- memset(&serveraddr,0,sizeof(serveraddr));
- serveraddr.sin_family=AF_INET;
- serveraddr.sin_addr.s_addr=T.gethost();
- serveraddr.sin_port=htons(CONTROL_UDP_PORT);
-
-
-
- if(err!=0)
- {
- cout << err << " " << "can't create thread";
- }
-
- T.get_connect(serveraddr);
- //sleep(1);
- //T.takeoff(serveraddr);
- T.get_video(serveraddr);
- sleep(5);
- //T.land(serveraddr);
-
- pthread_join(thread_receive,NULL);
- listenkeyboard(T,serveraddr);
- return 0;
-}
diff --git a/src/Djitellowhite/keyboard.cpp b/src/Djitellowhite/keyboard.cpp
deleted file mode 100644
index dcf3ade..0000000
--- a/src/Djitellowhite/keyboard.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include
-#include
-#include "Hardwarelistener.h"
-#include
-
-using namespace std;
-int scanKeyboard()
-{
-
- int in;
-
- struct termios new_settings;
- struct termios stored_settings;
- //设置终端参数
- tcgetattr(0,&stored_settings);
- new_settings = stored_settings;
- new_settings.c_lflag &= (~ICANON);
- new_settings.c_cc[VTIME] = 0;
- tcgetattr(0,&stored_settings);
- new_settings.c_cc[VMIN] = 1;
- tcsetattr(0,TCSANOW,&new_settings);
- in = getchar();
- tcsetattr(0,TCSANOW,&stored_settings);
-
- return in;
-
-}
-
-//测试函数
-int listenkeyboard(Tello T, sockaddr_in serveraddr){
- while(1){
- switch(scanKeyboard())
- {
- case (int)'w':
- cout << "forward"<< endl;
- T.forward(serveraddr);
- break;
- case (int)'s':
- cout << "back" << endl;
- T.back(serveraddr);
- break;
- case (int)'a':
- cout << "left" <
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#define PORT 8890
-
-void udp_server(int sockfd)
-{
-
- socklen_t len;
- char buf[1024] = {0};
- struct sockaddr_in server_addr;
- int n;
- int opt = 1;
- len = sizeof(server_addr);
- memset(&buf, 0, sizeof(buf));
- server_addr.sin_family = AF_INET;
- server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
- server_addr.sin_port = htons(PORT);
-
- setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)); //当服务器非正常断开的时候重启服务器，不会进入TIME_WAIT状态
-
- if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
- printf("can not bind\n");
- exit(1);
- }
-
- while (1) {
- printf("========wait for client's request========\n");
- n = recvfrom(sockfd, buf, sizeof(buf), 0, (struct sockaddr *)&server_addr, &len);
- buf[n] = '\0';
- printf("receive client's data: %s\n", buf);
- sendto(sockfd, buf, n, 0, (struct sockaddr *)&server_addr, len);
- printf("send data to client: %s\n", buf);
- }
-
- close(sockfd);
-}
-
-int main(int argc, char **argv)
-{
- int sockfd;
-
- if ((sockfd = socket(PF_INET, SOCK_DGRAM, 0)) < 0) {
- printf("create socket false\n");
- exit(1);
- }
-
- udp_server(sockfd);
-
- exit(0);
-}
-
-
diff --git a/src/Djitellowhite/test b/src/Djitellowhite/test
deleted file mode 100755
index 5becd75..0000000
Binary files a/src/Djitellowhite/test and /dev/null differ
diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
deleted file mode 100644
index 6f5d2bb..0000000
--- a/src/main/mainwindow.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-#include "../ui/mainwindow.hpp"
-
-
-MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
- QMainWindow(parent), qnode(argc, argv),
- ui(new Ui::MainWindow)
-
-{
- qnode.init();
- ui->setupUi(this);
- connections();
-}
-
-MainWindow::~MainWindow()
-{
- delete ui;
-}
-
-
-
-void MainWindow::slot_keyboard_control(){
- QPushButton *btn = qobject_cast(sender());
- std::string btn_name = btn->text().toStdString();
- char key = ' ';
- if (btn_name == "左"){
- key = 'a';
- }
- else if (btn_name == "右") {
- key = 'd';
- }
- else if (btn_name == "前") {
- key = 'w';
- }
- else if (btn_name == "后") {
- key = 's';
- }
- /*
- else if (btn_name == "加速") {
- key = 'f';
- }
- */
-
-
- qnode.KeyboardMove(key);
-
-}
-
-void MainWindow::connections(){
- //绑定速度控制按钮
- ui->pushButton_W->setShortcut(Qt::Key_W);
- connect(ui->pushButton_W, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
- ui->pushButton_S->setShortcut(Qt::Key_S);
- connect(ui->pushButton_S, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
- ui->pushButton_A->setShortcut(Qt::Key_A);
- connect(ui->pushButton_A, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
- ui->pushButton_D->setShortcut(Qt::Key_D);
- connect(ui->pushButton_D, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
- connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
- //
- //QObject::connect(&qnode, SIGNAL(loggingCamera()), this, SLOT(slot_updateCamera()));
-}
-void MainWindow::importFrame()
-{
- capture >> frame;
- cvtColor(frame, frame, CV_BGR2RGB);
- QImage srcQImage = QImage((uchar*)(frame.data), frame.cols, frame.rows, QImage::Format_RGB888);
- ui->StreamReceive->setPixmap(QPixmap::fromImage(srcQImage));
- ui->StreamReceive->resize(srcQImage.size());
- ui->StreamReceive->show();
-}
-void MainWindow::on_PLAY_clicked()
-{
- capture.open("udp://@0.0.0.0:11111");
- timer->start(30);
-}
-/*
-void MainWindow::slot_dispalyCamera(const QImage &image){
- qimage_mutex.lock();
- qimage = image.copy();
- ui->UGV_Vedio->setPixmap(QPixmap::fromImage(qimage));
- ui->UGV_Vedio->resize(ui->UGV_Vedio->pixmap()->size());
- qimage_mutex.unlock();
-}
-
-void MainWindow::slot_updateCamera()
-{
- slot_dispalyCamera(qnode.image);
-}
-*/
-
-
-
diff --git a/src/ui/mainwindow.hpp b/src/ui/mainwindow.hpp
deleted file mode 100644
index 313d085..0000000
--- a/src/ui/mainwindow.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#ifndef MAINWINDOW_H
-#define MAINWINDOW_H
-
-#include
-#include
-#include
-#include
-#include "ui_mainwindow.h"
-#include "../include/qnode.hpp"
-using namespace cv;
-namespace Ui {
-class MainWindow;
-}
-
-class MainWindow : public QMainWindow
-{
- Q_OBJECT
-
-public:
- explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
- ~MainWindow();
-
-public slots:
- void slot_keyboard_control();
- void importFrame();//read video
- void on_PLAY_clicked();//start video
- //void slot_updateCamera();
- //void slot_dispalyCamera(const QImage& image);
-
-private:
- Ui::MainWindow *ui;
- void connections();
- QNode qnode;
- //QImage qimage;
- //mutable QMutex qimage_mutex;
- VideoCapture capture;
- QTimer *timer;
- Mat frame;
- bool isCamerea = 0;
-
-};
-
-#endif // MAINWINDOW_H