show_gui.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <opencv2/highgui/highgui.hpp>
#include <tue_serialization/Binary.h>
#include <ed_msgs/RaiseEvent.h>
 
ros::ServiceClient client;
 
std::string click_type;
 
void imageCallback(const tue_serialization::Binary::ConstPtr& msg)
{
    cv::Mat image = cv::imdecode(msg->data, cv::IMREAD_UNCHANGED);
    cv::imshow("map", image);
    cv::waitKey(3);
}
 
void mouseCallback(int event, int x, int y, int /*flags*/, void* /*ptr*/)
{
    if (event == cv::EVENT_LBUTTONDOWN)
    {
        ed_msgs::RaiseEvent srv_ev;
        srv_ev.request.name = "click";
        srv_ev.request.param_names.push_back("x");
        srv_ev.request.param_names.push_back("y");
 
        std::stringstream x_str;
        x_str << x;
        std::stringstream y_str;
        y_str << y;
 
        srv_ev.request.param_values.push_back(x_str.str());
        srv_ev.request.param_values.push_back(y_str.str());
 
        srv_ev.request.param_names.push_back("type");
        srv_ev.request.param_values.push_back(click_type);
 
        if (client.call(srv_ev))
        {
            std::cout << "Response from server: " << srv_ev.response.msg << std::endl;
        }
        else
        {
            std::cout << "Calling raise event failed" << std::endl;
        }
    }
}
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "ed_gui");
 
    ros::NodeHandle nh;
    ros::Subscriber sub_image = nh.subscribe("/ed/gui/map_image", 1, imageCallback);
    client = nh.serviceClient<ed_msgs::RaiseEvent>("/ed/gui/raise_event");
 
    click_type = "navigate";
    if (argc >= 2)
    {
        click_type = argv[1];
    }
 
 
    cv::namedWindow("map", 1);
 
    cv::setMouseCallback("map", mouseCallback);
 
 
    ros::Rate r(30);
    while(ros::ok())
    {
        ros::spinOnce();
        r.sleep();
    }
 
    return 0;
}