bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMono_Sensor_Laser_Params * params=(VisualizationMono_Sensor_Laser_Params *)paramsPtr; VisualizationMono_Sensor_Laser_Vars * vars=(VisualizationMono_Sensor_Laser_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader,params,range); GetParamValue(xmlloader,params,interval); GetParamValue(xmlloader,params,imageradius); GetParamValue(xmlloader,params,frontonly); GetParamValue(xmlloader,params,laserbeam); GetParamValue(xmlloader,params,calib_width); GetParamValue(xmlloader,params,calib_height); vars->beams->setText("Opened"); return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); SensorInternalEvent_Sensor_Laser_Params * params=(SensorInternalEvent_Sensor_Laser_Params *)paramsPtr; Simulator_Sensor_Laser_Vars * vars=(Simulator_Sensor_Laser_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader,vars,path); GetParamValue(xmlloader,vars,filename); GetParamValue(xmlloader,params,first_step); GetParamValue(xmlloader,params,last_step); GetParamValue(xmlloader,params,skip_step); GetParamValue(xmlloader,params,nearfilter); GetParamValue(xmlloader,params,farfilter); vars->file.setFileName(QString("%1%2").arg(vars->path).arg(vars->filename)); if(!vars->file.open(QIODevice::ReadOnly)) { return 0; } vars->file.read(sizeof(float)*3);//文件头 return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMono_Sensor_stm32comm_Params * params=(VisualizationMono_Sensor_stm32comm_Params *)paramsPtr; VisualizationMono_Sensor_stm32comm_Vars * vars=(VisualizationMono_Sensor_stm32comm_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ //vars->comm_label->setText("open"); GetParamValue(xmlloader,params,mapsize); GetParamValue(xmlloader,params,pixelsize); GetParamValue(xmlloader,vars,showheight); vars->mapzero.x = 0; vars->mapzero.y = 0; vars->map.create(cv::Size(params->mapsize,params->mapsize),CV_8UC3); vars->map.setTo(0); vars->qmap->setText("Opened"); return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); Simulator_Sensor_Velodyne_Params * params=(Simulator_Sensor_Velodyne_Params *)paramsPtr; SensorInternalEvent_ROS_Sensor_Velodyne_Vars * vars=(SensorInternalEvent_ROS_Sensor_Velodyne_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader,params,velodynecalibfile); QFile file; file.setFileName(params->velodynecalibfile); if(!file.exists()||!file.open(QIODevice::ReadOnly|QIODevice::Text)) { return 0; } while(!file.atEnd()) { QString tmpstr=file.readLine(); int tmpindex=tmpstr.indexOf(":"); if(tmpindex<0) { continue; } QString prefix=tmpstr.left(tmpindex).trimmed(); QString suffix=tmpstr.mid(tmpindex+1).trimmed(); QStringList values=suffix.split(QChar(' '),QString::SkipEmptyParts); if(prefix.startsWith(QString("R"))) { int i,n=values.size(); for(i=0;i<n;i++) { int row=i/3; int col=i%3; params->calib2camera(row,col)=values[i].toFloat(); } } else if(prefix.startsWith(QString("T"))) { int i,n=values.size(); for(i=0;i<n;i++) { params->calib2camera(i,3)=values[i].toFloat(); } } } file.close(); vars->velodynesub->startReceiveSlot(); return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); StorageMono_Algorithm_Integration_VelodyneCamera_Params * params=(StorageMono_Algorithm_Integration_VelodyneCamera_Params *)paramsPtr; StorageMono_Algorithm_Integration_VelodyneCamera_Vars * vars=(StorageMono_Algorithm_Integration_VelodyneCamera_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); SourceDrainMono_Sensor_stm32comm_Params * params=(SourceDrainMono_Sensor_stm32comm_Params *)paramsPtr; SourceDrainMono_Sensor_stm32comm_Vars * vars=(SourceDrainMono_Sensor_stm32comm_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader, params, port); GetEnumParamValue(xmlloader, params, baudrate); GetEnumParamValue(xmlloader, params, qurymodel); GetParamValue(xmlloader, params, recv_packhead); GetParamValue(xmlloader, params, recv_packtail); GetParamValue(xmlloader, params, send_packhead); GetParamValue(xmlloader, params, send_packtail); GetParamValue(xmlloader, params, distPerPulse); GetParamValue(xmlloader, params, maxpusle); GetParamValue(xmlloader, params, WheelBase); GetParamValue(xmlloader, params, WheelRadius); GetParamValue(xmlloader, params, ratio); GetParamValue(xmlloader, vars, quryinterval); GetParamValue(xmlloader, params, recvpacksize); GetParamValue(xmlloader, vars, encoderrange); vars->serialport->setPortName(params->port); vars->serialport->setBaudRate(params->baudrate); vars->serialport->setDataBits(params->databits); vars->serialport->setParity(params->parity); vars->serialport->setStopBits(params->stopbits); vars->serialport->setFlowControl(params->flowtype); vars->serialport->setTimeout(params->timeout); vars->serialport->setQueryMode(params->qurymodel); vars->leftspeed = vars->rightspeed =0; vars->leftodom = vars->rightodom = 0; vars->x = vars->y = vars->theta = vars->yaw = 0; if(!(vars->serialport->open(QIODevice::ReadWrite))) return 0; return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); TransmitterMono_Gazebo_OrderGenerate_Params * params=(TransmitterMono_Gazebo_OrderGenerate_Params *)paramsPtr; TransmitterMono_Gazebo_OrderGenerate_Vars * vars=(TransmitterMono_Gazebo_OrderGenerate_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader, vars, vel_ratio) return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMono_Processor_SimpleCollect_Params * params=(VisualizationMono_Processor_SimpleCollect_Params *)paramsPtr; VisualizationMono_Processor_SimpleCollect_Vars * vars=(VisualizationMono_Processor_SimpleCollect_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ vars->label->setAlignment(Qt::AlignCenter); vars->label->setText("opened"); return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMulti_Algorithm_Detection_DPM_Params * params=(VisualizationMulti_Algorithm_Detection_DPM_Params *)paramsPtr; VisualizationMulti_Algorithm_Detection_DPM_Vars * vars=(VisualizationMulti_Algorithm_Detection_DPM_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ vars->viewer->setText("Open"); vars->camerabuffer.clear(); vars->dpmbuffer.clear(); return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMulti_Visualization_Integration_GroundObjectsDBM_Params * params=(VisualizationMulti_Visualization_Integration_GroundObjectsDBM_Params *)paramsPtr; VisualizationMulti_Visualization_Integration_GroundObjectsDBM_Vars * vars=(VisualizationMulti_Visualization_Integration_GroundObjectsDBM_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader,vars,radius); GetParamValue(xmlloader,vars,thickness); GetParamValue(xmlloader,vars,range); vars->image->setText("Open"); vars->init=1; return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMulti_VisualMisc_ControlJoy_Params * params=(VisualizationMulti_VisualMisc_ControlJoy_Params *)paramsPtr; VisualizationMulti_VisualMisc_ControlJoy_Vars * vars=(VisualizationMulti_VisualMisc_ControlJoy_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader, vars, leftArrowPath); GetParamValue(xmlloader, vars, rightArrowPath); GetParamValue(xmlloader, vars, forwardArrowPath); GetParamValue(xmlloader, vars, backArrowPath); GetParamValue(xmlloader, vars, width); GetParamValue(xmlloader, vars, height); GetParamValue(xmlloader, vars, fontSize); std::cout<<"open Joystick\n"; vars->label->setText("Open"); bool flag = vars->leftArrowImg.load(vars->leftArrowPath); flag &= vars->rightArrowImg.load(vars->rightArrowPath); flag &= vars->forwardArrowImg.load(vars->forwardArrowPath); flag &= vars->backArrowImg.load(vars->backArrowPath); if(!flag) { std::cout<<"load image error: VisualizationMulti_ControlJoy !"<<std::endl; return 0; } return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); VisualizationMono_Processor_PathGenerator_Params * params=(VisualizationMono_Processor_PathGenerator_Params *)paramsPtr; VisualizationMono_Processor_PathGenerator_Vars * vars=(VisualizationMono_Processor_PathGenerator_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader, vars, offlineTrajecPath); GetParamValue(xmlloader, vars, offlineTrajecFilename); FILE *fp = fopen((vars->offlineTrajecPath+vars->offlineTrajecFilename).toStdString().c_str(), "r"); double ox, oy, oth; while (fscanf(fp, "%lf %lf %lf", &ox, &oy, &oth) == 3) { trajec_state tmp = {ox, oy, oth, 0}; vars->offlinetrajec.push_back(tmp); } fclose(fp); vars->glviewer->makeCurrent(); vars->glviewer->setBackground(QColor(241,241,241)); vars->glviewer->clearDisplayList(); vars->displaylistbase = glGenLists(vars->shownum); int i; for(i=0; i<vars->shownum; i++) vars->glviewer->addDisplayList(vars->displaylistbase + i); vars->lastPos.x = vars->lastPos.y = 0; return 1; }
bool DECOFUNC(setParamsVarsOpenNode)(QString qstrConfigName, QString qstrNodeType, QString qstrNodeClass, QString qstrNodeName, void * paramsPtr, void * varsPtr) { XMLDomInterface xmlloader(qstrConfigName,qstrNodeType,qstrNodeClass,qstrNodeName); ProcessorMono_Algorithm_Detection_Camera_DBM_Params * params=(ProcessorMono_Algorithm_Detection_Camera_DBM_Params *)paramsPtr; ProcessorMono_Algorithm_Detection_Camera_DBM_Vars * vars=(ProcessorMono_Algorithm_Detection_Camera_DBM_Vars *)varsPtr; /*======Please Program below======*/ /* Function: open node. Procedure: 1: load parameters (params). [GetParamValue(xmlloader,params,tag); GetEnumParamValue(xmlloader,params,tag); GetUEnumParamValue(xmlloader,params,tag)] 2: initialize variables (vars). 3: If everything is OK, return 1 for successful opening and vice versa. */ GetParamValue(xmlloader,vars,modeldir); GetParamValue(xmlloader,vars,threshold1); GetParamValue(xmlloader,vars,threshold2); GetParamValue(xmlloader,vars,threadnum); GetParamValue(xmlloader,vars,compressrate); GetParamValue(xmlloader,vars,grubsize); if(vars->modeldir.size()==0) { return 0; } QDir dir(vars->modeldir); if(dir.exists()) { dir.setFilter(QDir::Files); dir.setNameFilters(QStringList()<<"*.xml"); QFileInfoList files=dir.entryInfoList(); int i,n=files.size(); std::vector<std::string> modelfiles; for(i=0;i<n;i++) { modelfiles.push_back(files[i].absoluteFilePath().toStdString()); } if(n>0) { if(!vars->detector.load(modelfiles)) { return 0; } modelfiles=vars->detector.getClassNames(); n=vars->detector.getClassCount(); params->classes.resize(n); for(i=0;i<n;i++) { params->classes[i]=QString::fromStdString(modelfiles[i]); } vars->init=1; return 1; } else { return 0; } } else { return 0; } }