version3
11
README.md
|
@ -9,16 +9,23 @@
|
||||||
|
|
||||||
#### 安装教程
|
#### 安装教程
|
||||||
|
|
||||||
1. xxxx
|
1. chmod +x build.sh
|
||||||
2. xxxx
|
2. ./build.sh
|
||||||
3. xxxx
|
3. xxxx
|
||||||
|
|
||||||
#### 使用说明
|
#### 使用说明
|
||||||
|
|
||||||
|
<<<<<<< Updated upstream
|
||||||
在最外层目录 catkin_make
|
在最外层目录 catkin_make
|
||||||
可能需要 source ./devel/setup.bash
|
可能需要 source ./devel/setup.bash
|
||||||
1. roslaunch librviz_tutorial laser.launch
|
1. roslaunch librviz_tutorial laser.launch
|
||||||
2. xxxx
|
2. xxxx
|
||||||
|
=======
|
||||||
|
在工作目录下(src上一层)
|
||||||
|
记得source(可能需要)
|
||||||
|
1. source ./devel/setup.bash
|
||||||
|
2. roslaunch point_visual laser.launch
|
||||||
|
>>>>>>> Stashed changes
|
||||||
3. xxxx
|
3. xxxx
|
||||||
|
|
||||||
#### 参与贡献
|
#### 参与贡献
|
||||||
|
|
|
@ -0,0 +1,28 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
# 创建工作目录
|
||||||
|
mkdir ~/PointVisual
|
||||||
|
|
||||||
|
cd ..
|
||||||
|
#将当前src移动到PointVisual
|
||||||
|
cp -r src ~/PointVisual
|
||||||
|
|
||||||
|
# 切换到工作目录
|
||||||
|
cd ~/PointVisual
|
||||||
|
|
||||||
|
# 在工作目录make
|
||||||
|
catkin_make
|
||||||
|
|
||||||
|
if [ $? -eq 0 ]; then
|
||||||
|
|
||||||
|
# 执行source命令
|
||||||
|
source ./devel/setup.bash
|
||||||
|
|
||||||
|
# 运行其他命令
|
||||||
|
# roslaunch point_visual laser.launch
|
||||||
|
roscore &
|
||||||
|
sleep 2
|
||||||
|
rosrun point_visual myviz
|
||||||
|
else
|
||||||
|
exit 1
|
||||||
|
fi
|
|
@ -1,10 +0,0 @@
|
||||||
<!--
|
|
||||||
Used for visualising rplidar in action.
|
|
||||||
|
|
||||||
It requires rplidar.launch.
|
|
||||||
-->
|
|
||||||
<launch>
|
|
||||||
<include file="$(find librviz_tutorial)/launch/rplidar.launch" />
|
|
||||||
|
|
||||||
<node name="myviz" pkg="librviz_tutorial" type="myviz"/>
|
|
||||||
</launch>
|
|
|
@ -4,7 +4,7 @@
|
||||||
##
|
##
|
||||||
## First start with some standard catkin stuff.
|
## First start with some standard catkin stuff.
|
||||||
cmake_minimum_required(VERSION 3.0.2)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
project(librviz_tutorial)
|
project(point_visual)
|
||||||
|
|
||||||
set(SDK_PATH "./sdk/")
|
set(SDK_PATH "./sdk/")
|
||||||
|
|
||||||
|
@ -18,6 +18,14 @@ find_package(catkin REQUIRED COMPONENTS
|
||||||
rviz roscpp std_msgs
|
rviz roscpp std_msgs
|
||||||
rosconsole sensor_msgs # node.cpp
|
rosconsole sensor_msgs # node.cpp
|
||||||
rosbag
|
rosbag
|
||||||
|
pcl_ros
|
||||||
|
)
|
||||||
|
|
||||||
|
find_package(PCL REQUIRED)
|
||||||
|
include_directories(
|
||||||
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
/usr/include/pcl-1.8
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
|
@ -68,8 +76,8 @@ set(SRC_FILES
|
||||||
|
|
||||||
add_executable(myviz ${SRC_FILES} )
|
add_executable(myviz ${SRC_FILES} )
|
||||||
|
|
||||||
add_executable(rplidarNode src/node.cpp ${SDK_SRC}) # 创建启动laser
|
# add_executable(rplidarNode src/node.cpp ${SDK_SRC}) # 创建启动laser
|
||||||
target_link_libraries(rplidarNode ${catkin_LIBRARIES})
|
# target_link_libraries(rplidarNode ${catkin_LIBRARIES})
|
||||||
target_link_libraries(myviz -lcrypto)
|
target_link_libraries(myviz -lcrypto)
|
||||||
|
|
||||||
|
|
||||||
|
@ -85,11 +93,11 @@ target_link_libraries(myviz ${QT_LIBRARIES} ${catkin_LIBRARIES})
|
||||||
## Install
|
## Install
|
||||||
install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
|
install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
|
||||||
|
|
||||||
install(TARGETS rplidarNode
|
# install(TARGETS rplidarNode
|
||||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
)
|
# )
|
||||||
|
|
||||||
install(DIRECTORY launch sdk
|
install(DIRECTORY launch sdk
|
||||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
@ -0,0 +1,10 @@
|
||||||
|
<!--
|
||||||
|
Used for visualising rplidar in action.
|
||||||
|
|
||||||
|
It requires rplidar.launch.
|
||||||
|
-->
|
||||||
|
<launch>
|
||||||
|
<!-- <include file="$(find point_visual)/launch/rplidar.launch" /> -->
|
||||||
|
|
||||||
|
<node name="myviz" pkg="point_visual" type="myviz"/>
|
||||||
|
</launch>
|
|
@ -1,5 +1,5 @@
|
||||||
<launch>
|
<launch>
|
||||||
<node name="rplidarNode" pkg="librviz_tutorial" type="rplidarNode" output="screen">
|
<node name="rplidarNode" pkg="point_visual" type="rplidarNode" output="screen">
|
||||||
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
|
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
|
||||||
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
|
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
|
||||||
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
|
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
|
|
@ -1,5 +1,5 @@
|
||||||
<package>
|
<package>
|
||||||
<name>librviz_tutorial</name>
|
<name>point_visual</name>
|
||||||
<version>0.11.0</version>
|
<version>0.11.0</version>
|
||||||
<description>
|
<description>
|
||||||
Tutorial showing how to compile your own C++ program with RViz displays and features.
|
Tutorial showing how to compile your own C++ program with RViz displays and features.
|
After Width: | Height: | Size: 13 KiB |
After Width: | Height: | Size: 17 KiB |
After Width: | Height: | Size: 14 KiB |
After Width: | Height: | Size: 14 KiB |
Before Width: | Height: | Size: 191 B After Width: | Height: | Size: 191 B |
Before Width: | Height: | Size: 188 B After Width: | Height: | Size: 188 B |
Before Width: | Height: | Size: 188 B After Width: | Height: | Size: 188 B |
Before Width: | Height: | Size: 157 B After Width: | Height: | Size: 157 B |
Before Width: | Height: | Size: 155 B After Width: | Height: | Size: 155 B |
Before Width: | Height: | Size: 157 B After Width: | Height: | Size: 157 B |
Before Width: | Height: | Size: 154 B After Width: | Height: | Size: 154 B |
Before Width: | Height: | Size: 154 B After Width: | Height: | Size: 154 B |
Before Width: | Height: | Size: 157 B After Width: | Height: | Size: 157 B |
Before Width: | Height: | Size: 152 B After Width: | Height: | Size: 152 B |
Before Width: | Height: | Size: 155 B After Width: | Height: | Size: 155 B |
Before Width: | Height: | Size: 13 KiB After Width: | Height: | Size: 13 KiB |
|
@ -9,8 +9,10 @@
|
||||||
|
|
||||||
LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
|
LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
|
||||||
{
|
{
|
||||||
|
|
||||||
|
this->setFixedSize(380, 300);
|
||||||
userLabel = new QLabel(this);
|
userLabel = new QLabel(this);
|
||||||
userLabel->move(80, 80);
|
userLabel->move(70, 80);
|
||||||
userLabel->setText(tr("用户名"));
|
userLabel->setText(tr("用户名"));
|
||||||
|
|
||||||
userEditLine = new QLineEdit(this);
|
userEditLine = new QLineEdit(this);
|
||||||
|
@ -18,7 +20,7 @@ LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
|
||||||
userEditLine->setPlaceholderText(tr("请输入用户名"));
|
userEditLine->setPlaceholderText(tr("请输入用户名"));
|
||||||
|
|
||||||
pwdLabel = new QLabel(this);
|
pwdLabel = new QLabel(this);
|
||||||
pwdLabel->move(80, 130);
|
pwdLabel->move(70, 130);
|
||||||
pwdLabel->setText(tr("密码"));
|
pwdLabel->setText(tr("密码"));
|
||||||
|
|
||||||
pwdEditLine = new QLineEdit(this);
|
pwdEditLine = new QLineEdit(this);
|
||||||
|
@ -38,18 +40,19 @@ LoginDialog::LoginDialog(QWidget *parent):QDialog(parent)
|
||||||
connect(exitBtn, &QPushButton::clicked, this, &LoginDialog::close);
|
connect(exitBtn, &QPushButton::clicked, this, &LoginDialog::close);
|
||||||
|
|
||||||
// 待解锁的组件名称
|
// 待解锁的组件名称
|
||||||
setting_name = {"laser_topic", "open_file", "bag_progress"};
|
setting_name = {"cloud_topic", "laser_topic", "open_file", "bag_progress", "fixd_frame_topic"};
|
||||||
|
// 账号路径
|
||||||
|
user_file_name = "../PointVisual/src/point_visual/sources/user/user.txt";
|
||||||
|
|
||||||
// to do read from file
|
// 创建用户表存下
|
||||||
createUser();
|
createUser();
|
||||||
// userPasswords["root"] = hashPassword("root123");
|
// userPasswords["root"] = hashPassword("root123");
|
||||||
// userPasswords["wbw"] = hashPassword("123");
|
// userPasswords["wbw"] = hashPassword("123");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void LoginDialog::createUser(){
|
void LoginDialog::createUser(){
|
||||||
std::ifstream inputFile("../Rviz/librviz_ws/src/librviz_tutorial/sources/user/user.txt");
|
std::ifstream inputFile(user_file_name);
|
||||||
// 第一次读写user.txt将user加密后,建立userPasswords
|
// 第一次读写user.txt将user加密后,建立userPasswords
|
||||||
if(inputFile.is_open()){
|
if(inputFile.is_open()){
|
||||||
std::string line;
|
std::string line;
|
||||||
|
@ -57,7 +60,7 @@ void LoginDialog::createUser(){
|
||||||
std::istringstream iss(line);
|
std::istringstream iss(line);
|
||||||
std::string username, pwd;
|
std::string username, pwd;
|
||||||
if(iss>> username && iss>> pwd){
|
if(iss>> username && iss>> pwd){
|
||||||
if(pwd.size() < 8){
|
if(pwd.size() <= 8){
|
||||||
// 根据长度判断是否已经被加密
|
// 根据长度判断是否已经被加密
|
||||||
pwd = hashPassword(pwd);
|
pwd = hashPassword(pwd);
|
||||||
}
|
}
|
||||||
|
@ -74,7 +77,7 @@ void LoginDialog::createUser(){
|
||||||
|
|
||||||
// 加密后的账户密码写入user.txt
|
// 加密后的账户密码写入user.txt
|
||||||
void LoginDialog::writeHash(const std::map<QString, QString> user){
|
void LoginDialog::writeHash(const std::map<QString, QString> user){
|
||||||
std::ofstream file("../Rviz/librviz_ws/src/librviz_tutorial/sources/user/user.txt");
|
std::ofstream file(user_file_name);
|
||||||
|
|
||||||
if(file.is_open()){
|
if(file.is_open()){
|
||||||
for(auto iter = user.begin(); iter != user.end() ; iter++){
|
for(auto iter = user.begin(); iter != user.end() ; iter++){
|
||||||
|
@ -124,15 +127,16 @@ std::string LoginDialog::hashPassword(const std::string& password) {
|
||||||
// 判断用户账号返回不同code
|
// 判断用户账号返回不同code
|
||||||
int LoginDialog::checkUser(const QString username, const QString pwd){
|
int LoginDialog::checkUser(const QString username, const QString pwd){
|
||||||
auto iter = userPasswords.find(username);
|
auto iter = userPasswords.find(username);
|
||||||
if (iter != userPasswords.end()) {
|
if(iter != userPasswords.end()){
|
||||||
if(iter->second == hashPassword(pwd)){
|
if(pwd.size() > 8) { return 1; }
|
||||||
// 用户密码都对
|
if(iter->second == hashPassword(pwd)){
|
||||||
return 2;
|
// 用户密码都对
|
||||||
}else{
|
return 2;
|
||||||
// 用户对,密码不对
|
}else{
|
||||||
return 1;
|
// 用户对,密码不对
|
||||||
}
|
return 1;
|
||||||
} else {
|
}
|
||||||
|
}else {
|
||||||
// 用户不对
|
// 用户不对
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
@ -168,35 +172,6 @@ void LoginDialog::login()
|
||||||
userEditLine->clear();
|
userEditLine->clear();
|
||||||
pwdEditLine->clear();
|
pwdEditLine->clear();
|
||||||
userEditLine->setFocus();
|
userEditLine->setFocus();
|
||||||
// //判断用户名和密码是否正确 todo 函数判断
|
|
||||||
// if (userEditLine->text().trimmed() == tr("tom") &&
|
|
||||||
// pwdEditLine->text() == tr("123456"))
|
|
||||||
// {
|
|
||||||
// for(int i=0 ; i<setting_name.size(); i++){
|
|
||||||
// QWidget *foundChild = parent()->findChild<QWidget*>(setting_name[i]);
|
|
||||||
// if (foundChild) {
|
|
||||||
// qDebug()<<"111" ;
|
|
||||||
// // 找到了指定的子组件 在这里可以对子组件进行操作
|
|
||||||
// foundChild->setEnabled(true);
|
|
||||||
// }else{
|
|
||||||
// qDebug()<<"第" << i+1 <<"组件未找到" ;
|
|
||||||
// }
|
|
||||||
// }
|
|
||||||
// QMessageBox::information(this, tr("登录成功"), tr("已解锁"), QMessageBox::Yes);
|
|
||||||
// // landed = 1;
|
|
||||||
// accept();
|
|
||||||
// }
|
|
||||||
// else
|
|
||||||
// {
|
|
||||||
// QMessageBox::warning(this, tr("登录失败"), tr("用户名或者密码错误"), QMessageBox::Yes);
|
|
||||||
// }
|
|
||||||
// userEditLine->clear();
|
|
||||||
// pwdEditLine->clear();
|
|
||||||
// userEditLine->setFocus();
|
|
||||||
|
|
||||||
|
|
||||||
// QMessageBox::information(this, tr("提示"), tr("已经登陆,请勿重新登录"), QMessageBox::Yes);
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
@ -46,6 +46,7 @@ private:
|
||||||
// std::vector<QString> setting_name;
|
// std::vector<QString> setting_name;
|
||||||
// 用户表
|
// 用户表
|
||||||
std::map<QString, QString> userPasswords;
|
std::map<QString, QString> userPasswords;
|
||||||
|
std::string user_file_name;
|
||||||
|
|
||||||
};
|
};
|
||||||
|
|
|
@ -32,20 +32,22 @@
|
||||||
|
|
||||||
|
|
||||||
#include <QWidget>
|
#include <QWidget>
|
||||||
#include<QString>
|
#include <QString>
|
||||||
#include <QGridLayout>
|
#include <QGridLayout>
|
||||||
#include<ros/ros.h>
|
#include <ros/ros.h>
|
||||||
#include"std_msgs/String.h"
|
#include "std_msgs/String.h"
|
||||||
#include<thread>
|
#include <thread>
|
||||||
#include <visualization_msgs/Marker.h>
|
#include <visualization_msgs/Marker.h>
|
||||||
|
|
||||||
#include<QTimer>
|
#include <QTimer>
|
||||||
#include <QMutex>
|
#include <QMutex>
|
||||||
#include <QProcess>
|
#include <QProcess>
|
||||||
#include <QThread>
|
#include <QThread>
|
||||||
#include<QSlider>
|
#include <QSlider>
|
||||||
#include <rosbag/bag.h>
|
#include <rosbag/bag.h>
|
||||||
#include <sensor_msgs/LaserScan.h>
|
#include <sensor_msgs/LaserScan.h>
|
||||||
|
#include <sensor_msgs/PointCloud2.h>
|
||||||
|
|
||||||
#include <rosbag/view.h>
|
#include <rosbag/view.h>
|
||||||
#include"loginDialog.h"
|
#include"loginDialog.h"
|
||||||
|
|
||||||
|
@ -56,8 +58,8 @@ class RenderPanel;
|
||||||
class VisualizationManager;
|
class VisualizationManager;
|
||||||
class ToolManager;
|
class ToolManager;
|
||||||
class PropertyTreeWidget;
|
class PropertyTreeWidget;
|
||||||
class ToolManager;
|
class ViewManager;
|
||||||
class PropertyTreeWidget;
|
class ViewController;
|
||||||
}
|
}
|
||||||
|
|
||||||
// BEGIN_TUTORIAL
|
// BEGIN_TUTORIAL
|
||||||
|
@ -70,64 +72,93 @@ public:
|
||||||
virtual ~MyViz();
|
virtual ~MyViz();
|
||||||
void subCallback(const std_msgs::String& msg);
|
void subCallback(const std_msgs::String& msg);
|
||||||
void pubThread();
|
void pubThread();
|
||||||
void PlayCircle(double index); // 圆圈线程执行函数
|
void PlayCircles(); // 圆圈线程执行函数
|
||||||
rosbag::View *view;
|
rosbag::View *view;
|
||||||
|
rosbag::View *view_;
|
||||||
|
|
||||||
private Q_SLOTS: // QT信号和槽
|
private Q_SLOTS: // QT信号和槽
|
||||||
void setThickness( int thickness_percent );
|
void setThickness( int thickness_percent );
|
||||||
void setCellSize( int cell_size_percent );
|
void setCellSize( int cell_size_percent );
|
||||||
void setCloudTopic(const QString &newTopic);
|
void setCloudTopic(const QString &newTopic);
|
||||||
void setLaserTopic(const QString &newTopic);
|
void setCloudSize(const QString& size);
|
||||||
void setCloudSize(int cloudsize);
|
void setCloudAlpha(const QString& text);
|
||||||
void setLaserSize(int lasersize);
|
void setLaserAlpha(const QString& laserAlpha);
|
||||||
|
|
||||||
|
void setLaserTopic(const QString &newTopic);
|
||||||
|
void setLaserSize(const QString & laserSize);
|
||||||
void LaserColorChanged(int index); // 雷达颜色
|
void LaserColorChanged(int index); // 雷达颜色
|
||||||
void GridColorChanged(int index); // 格栅颜色
|
void GridColorChanged(int index); // 格栅颜色
|
||||||
|
void CloudColorChanged(int index);
|
||||||
void setFixedFrame(const QString &FixedFrame);
|
void setFixedFrame(const QString &FixedFrame);
|
||||||
void setBackgroundColor(const QString& bg_color); // 背景颜色
|
void setBackgroundColor(const QString& bg_color); // 背景颜色
|
||||||
void AxesDisplayChanged(int index); // axe
|
void AxesDisplayChanged(int index); // axe
|
||||||
void CircleDisplayChanged(const QString& text); // 圆圈变化
|
|
||||||
void Tree_Display(QGridLayout* layout, int index);
|
void Tree_Display(QGridLayout* layout, int index);
|
||||||
|
|
||||||
void login_button_clicked();
|
void login_button_clicked();
|
||||||
void quit_login_button_clicked();
|
void quit_login_button_clicked();
|
||||||
void slot_select(); // 切换至select模式
|
void slot_select(); // 切换至select模式
|
||||||
void slot_move_camera();
|
void slot_move_camera();
|
||||||
|
void CircleDisplayAdded(); // 增加圆圈按钮
|
||||||
|
void CircleDisplayDeleted(); // 删除圆圈按钮
|
||||||
|
void ViewZero(); // 视角回正
|
||||||
|
void ViewLeft(); // 视角左转
|
||||||
|
void ViewRight(); // 视角右转
|
||||||
|
void ViewTop(); // 视角俯视
|
||||||
|
|
||||||
// off
|
// off
|
||||||
double extractDuration(const QByteArray& output);
|
double extractDuration(const QByteArray& output);
|
||||||
void selectFile();
|
void selectFile();
|
||||||
void SpeedChanged(int index);
|
void SpeedChanged(int index);
|
||||||
void openFile();
|
void openFile();
|
||||||
|
void pcdFile();
|
||||||
|
void plyFile();
|
||||||
|
void bin();
|
||||||
|
std::string find(const std::string Path);
|
||||||
|
|
||||||
|
void pcd2ply (std::string &in_file, std::string& out_file);
|
||||||
|
void pcd2bin (std::string &in_file, std::string& out_file);
|
||||||
|
void ply2pcd (std::string &in_file, std::string& out_file);
|
||||||
|
void ply2bin (std::string &in_file, std::string& out_file);
|
||||||
|
void bin2pcd (std::string &in_file, std::string& out_file);
|
||||||
|
void bin2ply (std::string &in_file, std::string& out_file);
|
||||||
|
void TransformeType();
|
||||||
|
|
||||||
private:
|
private:
|
||||||
rviz::VisualizationManager* manager_; //
|
rviz::VisualizationManager* manager_; //
|
||||||
rviz::RenderPanel* render_panel_;
|
rviz::RenderPanel* render_panel_;
|
||||||
rviz::ToolManager* tool_manager_;
|
rviz::ToolManager* tool_manager_;
|
||||||
|
rviz::ViewManager* view_man_; // 视角总类
|
||||||
|
rviz::ViewController* viewController; // 视角控制类
|
||||||
rviz::Display* grid_;
|
rviz::Display* grid_;
|
||||||
rviz::Display* cloud;
|
rviz::Display* cloud;
|
||||||
rviz::Display* laser_;
|
rviz::Display* laser_;
|
||||||
rviz::Display* axes_display;
|
rviz::Display* axes_display;
|
||||||
rviz::Display* marker_;
|
rviz::Display* marker_;
|
||||||
rviz::PropertyTreeWidget* tree_widget_ ;
|
rviz::PropertyTreeWidget* select_tree_widget_ ; // select框
|
||||||
|
|
||||||
|
// rviz::PropertyTreeWidget* view_tree_widget_ ;
|
||||||
ros::NodeHandle nh;
|
ros::NodeHandle nh;
|
||||||
ros::Subscriber sub;
|
ros::Subscriber sub;
|
||||||
ros::Publisher pub;
|
ros::Publisher pub;
|
||||||
std::thread pub_thread;
|
std::thread pub_thread;
|
||||||
|
|
||||||
std::vector<QString> color_name; // 颜色的名称集合
|
std::vector<QString> color_name; // 颜色的名称集合
|
||||||
|
// std::vector<QString> button_name; // 带图标按钮的名称集合
|
||||||
QString color_icon_filename;
|
QString color_icon_filename;
|
||||||
|
QString button_icon_filename;
|
||||||
|
|
||||||
LoginDialog* dlg;
|
LoginDialog* dlg;
|
||||||
bool landed;
|
bool landed;
|
||||||
QString cur_fixed_frame;
|
QString cur_fixed_frame;
|
||||||
|
int circle_index;
|
||||||
|
std::map<double, int> circle_radius;
|
||||||
// off
|
// off
|
||||||
bool isclicked;// 用于判断play第几次按下play键
|
|
||||||
bool ispauseclick;// 用于判断暂停键第几次按下
|
bool ispauseclick;// 用于判断暂停键第几次按下
|
||||||
int count;// 用于记录timeout的次数
|
int count;// 用于记录timeout的次数
|
||||||
bool sliderreleased;// 用于判断是否拖动了进度条
|
bool sliderreleased;// 用于判断是否拖动了进度条
|
||||||
bool playagain;// 用于检测是否多次按下play按钮
|
bool playagain;// 用于检测是否多次按下play按钮
|
||||||
bool isthreadplaying;// 用于标识线程是否在运行
|
bool isthreadplaying;// 用于标识线程是否在运行
|
||||||
bool abs;// 用于单独开线程?
|
bool stored = false;// 用于存储一次容器,只在第一次play的时候存储容器
|
||||||
bool stored;// 用于存储一次容器,只在第一次play的时候存储容器
|
|
||||||
bool is_pause = false;
|
bool is_pause = false;
|
||||||
bool is_reset = false;
|
bool is_reset = false;
|
||||||
bool is_end = false;
|
bool is_end = false;
|
||||||
|
@ -142,17 +173,30 @@ private:
|
||||||
bool threadout = false;
|
bool threadout = false;
|
||||||
bool ischanged = false;
|
bool ischanged = false;
|
||||||
bool ismoved = false;
|
bool ismoved = false;
|
||||||
double speed_rate;
|
|
||||||
|
bool sliderpause = false;
|
||||||
|
bool is_next = false;
|
||||||
|
bool is_previous = false;
|
||||||
|
bool flag = false;
|
||||||
|
bool pointcloud2 = false;
|
||||||
|
double speed_rate = 10;
|
||||||
|
QPushButton* play;
|
||||||
QSlider* progress;
|
QSlider* progress;
|
||||||
QString filePath;
|
QString filePath;
|
||||||
double duration;
|
QString Topic;
|
||||||
int remain;
|
QString SavefileName;
|
||||||
|
QString SaveMulfileName;
|
||||||
|
|
||||||
|
double sliderPosition = 0;
|
||||||
int prog_num = 0;
|
int prog_num = 0;
|
||||||
std::vector<QString> speed_name;
|
std::vector<QString> speed_name;
|
||||||
ros::Publisher scan_pub;
|
ros::Publisher scan_pub;
|
||||||
std::vector<sensor_msgs::LaserScan::ConstPtr> indx;// 存储节点信息
|
ros::Publisher scan_pubpcd;
|
||||||
int countbag;// 存储播放的具体位置
|
std::vector<sensor_msgs::LaserScan::ConstPtr> indx;// 存储laser节点信息
|
||||||
double indxsize;
|
std::vector<sensor_msgs::PointCloud2::ConstPtr> indxpcd;// 存储cloud节点信息
|
||||||
|
int countbag = 0;// 存储播放的具体位置
|
||||||
|
double indxsize = 0;
|
||||||
|
double indxpcdsize = 0;
|
||||||
int test = 0;
|
int test = 0;
|
||||||
|
|
||||||
|
|