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miguelriemoliveiramiguelriemoliveira
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#378 Basic functionality working. Will need more work but we can already published the clicked points.
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‎atom_rviz_plugins/image_display_with_click/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(image_display_with_click)
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###################
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# compile options #
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###################
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -fno-asm -fPIC")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g -O0")
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# Qt settings #
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find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
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#find_package(QCustomPlot)
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macro(qt_wrap_ui)
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qt5_wrap_ui(${ARGN})
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endmacro()
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include_directories(${Qt5Core_INCLUDE_DIRS})
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include_directories(${Qt5Widgets_INCLUDE_DIRS})
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add_definitions(-DQT_NO_KEYWORDS)
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# cmake settings #
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTORCC ON)
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# catkin #
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set(DEPEND_ROS_PKGS
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class_loader
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pluginlib
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roscpp
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rviz
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std_msgs
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atom_msgs
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)
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find_package(catkin REQUIRED
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COMPONENTS
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${DEPEND_ROS_PKGS}
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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${PROJECT_NAME}
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CATKIN_DEPENDS
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${DEPEND_ROS_PKGS}
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DEPENDS
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)
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#########
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# Build #
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#########
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## add include directory ##
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## add library path ##
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link_directories(${catkin_LIBRARY_DIRS})
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# source codes #
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set(HEADERS
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include/image_display_with_click/image_display_with_click.h
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include/image_display_with_click/mouse_watcher.h
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)
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#qt5_wrap_ui(UIC_FILES
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# src/ui/calibration_panel.ui
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# )
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set(SOURCE_FILES
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src/plugin_load.cpp
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src/image_display_with_click.cpp
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src/mouse_watcher.cpp
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)
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add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADERS} ${UIC_FILES})
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set_target_properties(${PROJECT_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
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target_include_directories(${PROJECT_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")
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###########
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# Install #
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###########
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install(FILES plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY icons DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY include/ DESTINATION include)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)

‎atom_rviz_plugins/image_display_with_click/include/image_display_with_click/image_display_with_click.h

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#ifndef IMAGE_DISPLAY_WITH_CLICK_H
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#define IMAGE_DISPLAY_WITH_CLICK_H
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#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
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#include "../../../../../../../usr/include/x86_64-linux-gnu/qt5/QtCore/QObject"
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#include "../../../../../../../usr/include/OGRE/OgreMaterial.h"
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#include "../../../../../../../usr/include/OGRE/OgreRenderTargetListener.h"
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#include "../../../../../../../usr/include/OGRE/OgreSharedPtr.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/image/image_display_base.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/image/ros_image_texture.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/render_panel.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/properties/bool_property.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/properties/float_property.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/properties/int_property.h"
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#endif
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#include <iostream>
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#include <QMouseEvent>
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#include "ros/ros.h"
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#include "geometry_msgs/PointStamped.h"
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#include "std_msgs/String.h"
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#include <image_display_with_click/mouse_watcher.h>
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namespace Ogre
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{
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class SceneNode;
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class Rectangle2D;
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} // namespace Ogre
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using namespace std;
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namespace atom_rviz
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{
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class ImageDisplayWithClick : public rviz::ImageDisplayBase
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{
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Q_OBJECT
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public:
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ImageDisplayWithClick();
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~ImageDisplayWithClick() override;
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// Overrides from Display
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void onInitialize() override;
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void update(float wall_dt, float ros_dt) override;
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void reset() override;
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public Q_SLOTS:
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virtual void updateNormalizeOptions();
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protected:
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// overrides from Display
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void onEnable() override;
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void onDisable() override;
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/* This is called by incomingMessage(). */
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void processMessage(const sensor_msgs::Image::ConstPtr& msg) override;
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Ogre::SceneManager* img_scene_manager_;
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rviz::ROSImageTexture texture_;
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rviz::RenderPanel* render_panel_;
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private:
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Ogre::SceneNode* img_scene_node_;
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Ogre::Rectangle2D* screen_rect_;
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Ogre::MaterialPtr material_;
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BoolProperty* normalize_property_;
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rviz::FloatProperty* min_property_;
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rviz::FloatProperty* max_property_;
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rviz::IntProperty* median_buffer_size_property_;
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bool got_float_image_;
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MouseWatcher* mouse_watcher;
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};
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} // namespace rviz
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#endif

‎atom_rviz_plugins/image_display_with_click/include/image_display_with_click/mouse_watcher.h

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#ifndef MOUSE_WATCHER_H
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#define MOUSE_WATCHER_H
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#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
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#include "../../../../../../../usr/include/x86_64-linux-gnu/qt5/QtCore/QObject"
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#include "../../../../../../../usr/include/OGRE/OgreMaterial.h"
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#include "../../../../../../../usr/include/OGRE/OgreRenderTargetListener.h"
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#include "../../../../../../../usr/include/OGRE/OgreSharedPtr.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/image/image_display_base.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/image/ros_image_texture.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/render_panel.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/properties/bool_property.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/properties/float_property.h"
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#include "../../../../../../../opt/ros/noetic/include/rviz/properties/int_property.h"
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#endif
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#include <iostream>
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#include <string>
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#include <QMouseEvent>
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#include "ros/ros.h"
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#include "geometry_msgs/PointStamped.h"
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#include "std_msgs/String.h"
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using namespace std;
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namespace atom_rviz
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{
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class MouseWatcher : public QObject
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{
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public:
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MouseWatcher(QWidget * parent);
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virtual bool eventFilter(QObject * obj, QEvent * event);
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void setDimensions(int _img_width, int _img_height, int _win_width, int _win_height);
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void setTopic(string image_topic);
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private:
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string image_click_topic;
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bool has_dimensions;
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int img_width;
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int img_height;
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int win_width;
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int win_height;
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ros::Publisher* mouse_event_pub;
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ros::NodeHandle* node_handle;
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};
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} // namespace rviz
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#endif

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