int main (int argc, char** argv)
{
ros::init(argc, argv, "plane_extraction");
if (argc != 2 && argc != 4)
{
ROS_ERROR("Usage: %s <filename.pcd> [min_z max_z]", argv[0]);
return 1;
}
PointCloud::Ptr cloud(new PointCloud);
pcl::io::loadPCDFile(argv[1], *cloud);
if (argc == 4)
{
float min_z = boost::lexical_cast<float>(argv[3]);
float max_z = boost::lexical_cast<float>(argv[4]);
pcl::PassThrough<PointT> pass_through;
pass_through.setFilterFieldName("z");
pass_through.setFilterLimits(min_z, max_z);
pass_through.setKeepOrganized(true);
pass_through.setInputCloud(cloud);
pass_through.filter(*cloud);
ROS_INFO("Keep points in %.2f to %.2f range.", min_z, max_z);
}
PlaneExtractionTest pet(cloud);
pet.run();
return 0;
}
void Watchdog::sendMsg(char *msg)
{
// pet HW watchdog, part 1.
// to do this you must call pet() before you do anything, then pet2()
// before leaving this function (sendMsg).
pet();
/* check time. if > 60 seconds since the last time we sent a message, send */
//grab current time and compare to the last time we sent
_curmillis = millis();
if (_curmillis - _watchdog_millis > HW_SENDMSG_TIME) {
_uptime += HW_SENDMSG_TIME;
sprintf(_message, "%s %d.%d.%d.%d %lu ", msg, _arduino_ip[0], _arduino_ip[1],
_arduino_ip[2], _arduino_ip[3], _uptime/1000);
_client.beginPacket(_server_ip, _server_port);
_client.write(_message);
_client.endPacket();
if (_wd_debug == 1)
Serial.println(_message);
//update time so the next send happens in 60 s
_watchdog_millis = millis();
}
//pet HW watchdog, part 2
pet2();
}
void Watchdog::sendMsg(char *msg)
{
//Serial.println("sendmsg\n");
// pet HW watchdog
pet();
if (_client.connected())
{
_curmillis = millis();
/* if (Serial) {
Serial.println(_curmillis - _watchdog_millis);
}
*/
if (_curmillis - _watchdog_millis > 60000) {
_uptime += 60000;
sprintf(_message, "%s %d.%d.%d.%d %lu ", msg, _arduino_ip[0], _arduino_ip[1],
_arduino_ip[2], _arduino_ip[3], _uptime/1000);
_client.write(_message);
if (Serial)
Serial.println(_message);
_watchdog_millis = millis();
}
} else {
_curmillis = millis();
if (_curmillis - _watchdog_millis > 60000) {
_uptime += 60000;
_watchdog_millis = millis();
}
}
// if the server's disconnected, loop to reconnect
if (!_client.connected()) {
if (millis() - _reconnect_millis > HW_RECONNECT_TIME) {
_reconnect_millis = millis();
_client.stop();
if (Serial)
Serial.println("Reconnecting, v2...");
if (_client.connect(_server_ip, _server_port)) {
if (Serial)
Serial.println("Connected");
}
else {
// if you didn't get a connection to the server:
if (Serial)
Serial.println("Failed connection");
}
}
}
//pet HW watchdog, part 2
pet2();
/* if (Serial) {
if (pin_low == true)
Serial.println("pin low\n");
else
Serial.println("pin high:\n");
}*/
}
/**
* @brief Sestaveni celeho okna kalkulaci a pozicovani objektu
*/
MainWindow::MainWindow(QWidget *parent) :
/* nize je napozicovany kazdy jednotlivy objekt kalkulacky, a take spusteni signalu */
QMainWindow(parent) {
this->setWindowTitle("Kalkulačka Vořežpruti");
lcd = new QLCDNumber(10, this);
lcd -> setGeometry(QRect(QPoint(50,50), QSize(200, 50)));
clear_button = new QPushButton("C",this);
clear_button -> setGeometry(QRect(QPoint(200,300), QSize(50,50)));
connect(clear_button, SIGNAL(released()), this, SLOT(clear()));
napoveda_button = new QPushButton("?", this);
napoveda_button -> setGeometry(QRect(QPoint(125,400), QSize(50,50)));
connect(napoveda_button, SIGNAL(released()), this, SLOT(napoveda()));
rovno_button = new QPushButton("=", this);
rovno_button -> setGeometry(QRect(QPoint(50,350), QSize(200,50)));
connect(rovno_button, SIGNAL(released()), this, SLOT(rovno()));
scitani_button = new QPushButton("+", this);
scitani_button -> setGeometry(QRect(QPoint(50,100), QSize(50,50)));
connect(scitani_button, SIGNAL(released()), this, SLOT(scitani()));
nasobeni_button = new QPushButton("x", this);
nasobeni_button -> setGeometry(QRect(QPoint(150,100), QSize(50,50)));
connect(nasobeni_button, SIGNAL(released()), this, SLOT(nasobeni()));
deleni_button = new QPushButton("/", this);
deleni_button -> setGeometry(QRect(QPoint(200,100), QSize(50,50)));
connect(deleni_button, SIGNAL(released()), this, SLOT(deleni()));
odcitani_button = new QPushButton("-", this);
odcitani_button -> setGeometry(QRect(QPoint(100,100), QSize(50,50)));
connect(odcitani_button, SIGNAL(released()), this, SLOT(odcitani()));
nula_button = new QPushButton("0", this);
nula_button -> setGeometry(QRect(QPoint(50,300), QSize(50,50)));
connect(nula_button, SIGNAL(released()), this, SLOT(nula()));
jedna_button = new QPushButton("1", this);
jedna_button -> setGeometry(QRect(QPoint(50,250), QSize(50,50)));
connect(jedna_button, SIGNAL(released()), this, SLOT(jedna()));
dva_button = new QPushButton("2", this);
dva_button -> setGeometry(QRect(QPoint(100,250), QSize(50,50)));
connect(dva_button, SIGNAL(released()), this, SLOT(dva()));
tri_button = new QPushButton("3", this);
tri_button -> setGeometry(QRect(QPoint(150,250), QSize(50,50)));
connect(tri_button, SIGNAL(released()), this, SLOT(tri()));
ctyri_button = new QPushButton("4", this);
ctyri_button -> setGeometry(QRect(QPoint(50,200), QSize(50,50)));
connect(ctyri_button, SIGNAL(released()), this, SLOT(ctyri()));
pet_button = new QPushButton("5", this);
pet_button -> setGeometry(QRect(QPoint(100,200), QSize(50,50)));
connect(pet_button, SIGNAL(released()), this, SLOT(pet()));
sest_button = new QPushButton("6", this);
sest_button -> setGeometry(QRect(QPoint(150,200), QSize(50,50)));
connect(sest_button, SIGNAL(released()), this, SLOT(sest()));
sedm_button = new QPushButton("7", this);
sedm_button -> setGeometry(QRect(QPoint(50,150), QSize(50,50)));
connect(sedm_button, SIGNAL(released()), this, SLOT(sedm()));
osm_button = new QPushButton("8", this);
osm_button -> setGeometry(QRect(QPoint(100,150), QSize(50,50)));
connect(osm_button, SIGNAL(released()), this, SLOT(osm()));
devet_button = new QPushButton("9", this);
devet_button -> setGeometry(QRect(QPoint(150,150), QSize(50,50)));
connect(devet_button, SIGNAL(released()), this, SLOT(devet()));
tecka_button = new QPushButton(".", this);
tecka_button -> setGeometry(QRect(QPoint(100,300), QSize(50,50)));
connect(tecka_button, SIGNAL(released()), this, SLOT(tecka()));
faktorial_button = new QPushButton("!", this);
faktorial_button -> setGeometry(QRect(QPoint(200,150), QSize(50,50)));
connect(faktorial_button, SIGNAL(released()), this, SLOT(faktorial()));
mocnina_button = new QPushButton("^", this);
mocnina_button -> setGeometry(QRect(QPoint(200,200), QSize(50,50)));
connect(mocnina_button, SIGNAL(released()), this, SLOT(mocnina()));
odmocnina_button = new QPushButton("sqrt", this);
odmocnina_button -> setGeometry(QRect(QPoint(200,250), QSize(50,50)));
connect(odmocnina_button, SIGNAL(released()), this, SLOT(odmocnina()));
negate_button = new QPushButton("+/-", this);
negate_button -> setGeometry(QRect(QPoint(150,300), QSize(50,50)));
connect(negate_button, SIGNAL(released()), this, SLOT(negate()));
}
