rqt_image_view: Adding the possibility to publish mouse events.

rqt_image_view/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(rqt_image_view)
 # Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS rqt_gui rqt_gui_cpp image_transport sensor_msgs cv_bridge)
+find_package(catkin REQUIRED COMPONENTS rqt_gui rqt_gui_cpp image_transport sensor_msgs geometry_msgs cv_bridge)
 
 find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
 
@@ -30,7 +30,7 @@ set(rqt_image_view_INCLUDE_DIRECTORIES
 catkin_package(
   INCLUDE_DIRS ${rqt_image_view_INCLUDE_DIRECTORIES}
   LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS rqt_gui rqt_gui_cpp image_transport sensor_msgs cv_bridge
+  CATKIN_DEPENDS rqt_gui rqt_gui_cpp image_transport sensor_msgs cv_bridge geometry_msgs
 )
 catkin_python_setup()
 

rqt_image_view/include/rqt_image_view/image_view.h

@@ -40,6 +40,7 @@
 #include <image_transport/image_transport.h>
 #include <ros/macros.h>
 #include <sensor_msgs/Image.h>
+#include <geometry_msgs/Point.h>
 
 #include <opencv2/core/core.hpp>
 
@@ -93,6 +94,12 @@ protected slots:
 
   virtual void saveImage();
 
+  virtual void onMousePublish(bool checked);
+
+  virtual void onMouseLeft(int x, int y);
+
+  virtual void onPubTopicChanged();
+
 protected:
 
   virtual void callbackImage(const sensor_msgs::Image::ConstPtr& msg);
@@ -108,6 +115,9 @@ protected slots:
 private:
 
   QString arg_topic_name;
+  ros::Publisher pub_mouse_left_;
+
+  bool pub_topic_custom_;
 
 };
 

rqt_image_view/include/rqt_image_view/ratio_layouted_frame.h

@@ -80,6 +80,8 @@ class RatioLayoutedFrame
 
   void delayed_update();
 
+  void mouseLeft(int x, int y);
+
 protected:
 
   void setAspectRatio(unsigned short width, unsigned short height);
@@ -90,6 +92,8 @@ class RatioLayoutedFrame
 
   static int greatestCommonDivisor(int a, int b);
 
+  void mousePressEvent(QMouseEvent * mouseEvent);
+
   QSize aspect_ratio_;
 
   QImage qimage_;

rqt_image_view/package.xml

@@ -15,11 +15,13 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>cv_bridge</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>rqt_gui</build_depend>
   <build_depend>rqt_gui_cpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <run_depend>cv_bridge</run_depend>
+  <run_depend>geometry_msgs</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>rqt_gui</run_depend>
   <run_depend>rqt_gui_cpp</run_depend>

rqt_image_view/src/rqt_image_view/image_view.cpp

@@ -91,11 +91,19 @@ void ImageView::initPlugin(qt_gui_cpp::PluginContext& context)
       ui_.topics_combo_box->setCurrentIndex(ui_.topics_combo_box->findText(arg_topic_name));
     }
   }
+  pub_topic_custom_ = false;
+
+  QRegExp rx("([a-zA-Z/][a-zA-Z0-9_/]*)?"); //see http://www.ros.org/wiki/ROS/Concepts#Names.Valid_Names (but also accept an empty field)
+  ui_.publish_click_location_topic_line_edit->setValidator(new QRegExpValidator(rx, this));
+  connect(ui_.publish_click_location_check_box, SIGNAL(toggled(bool)), this, SLOT(onMousePublish(bool)));
+  connect(ui_.image_frame, SIGNAL(mouseLeft(int, int)), this, SLOT(onMouseLeft(int, int)));
+  connect(ui_.publish_click_location_topic_line_edit, SIGNAL(editingFinished()), this, SLOT(onPubTopicChanged()));
 }
 
 void ImageView::shutdownPlugin()
 {
   subscriber_.shutdown();
+  pub_mouse_left_.shutdown();
 }
 
 void ImageView::saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const
@@ -106,6 +114,8 @@ void ImageView::saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::
   instance_settings.setValue("zoom1", ui_.zoom_1_push_button->isChecked());
   instance_settings.setValue("dynamic_range", ui_.dynamic_range_check_box->isChecked());
   instance_settings.setValue("max_range", ui_.max_range_double_spin_box->value());
+  instance_settings.setValue("publish_click_location", ui_.publish_click_location_check_box->isChecked());
+  instance_settings.setValue("mouse_pub_topic", ui_.publish_click_location_topic_line_edit->text());
 }
 
 void ImageView::restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings)
@@ -130,6 +140,12 @@ void ImageView::restoreSettings(const qt_gui_cpp::Settings& plugin_settings, con
     //qDebug("ImageView::restoreSettings() topic '%s'", topic.toStdString().c_str());
     selectTopic(topic);
   }
+
+  bool publish_click_location = instance_settings.value("publish_click_location", false).toBool();
+  ui_.publish_click_location_check_box->setChecked(publish_click_location);
+
+  QString pub_topic = instance_settings.value("mouse_pub_topic", "").toString();
+  ui_.publish_click_location_topic_line_edit->setText(pub_topic);
 }
 
 void ImageView::updateTopicList()
@@ -261,6 +277,8 @@ void ImageView::onTopicChanged(int index)
       QMessageBox::warning(widget_, tr("Loading image transport plugin failed"), e.what());
     }
   }
+
+  onMousePublish(ui_.publish_click_location_check_box->isChecked());
 }
 
 void ImageView::onZoom1(bool checked)
@@ -302,6 +320,49 @@ void ImageView::saveImage()
   img.save(file_name);
 }
 
+void ImageView::onMousePublish(bool checked)
+{
+  std::string topicName;
+  if(pub_topic_custom_)
+  {
+    topicName = ui_.publish_click_location_topic_line_edit->text().toStdString();
+  } else {
+    if(!subscriber_.getTopic().empty())
+    {
+      topicName = subscriber_.getTopic()+"_mouse_left";
+    } else {
+      topicName = "mouse_left";
+    }
+    ui_.publish_click_location_topic_line_edit->setText(QString::fromStdString(topicName));
+  }
+
+  if(checked)
+  {
+    pub_mouse_left_ = getNodeHandle().advertise<geometry_msgs::Point>(topicName, 1000);
+  } else {
+    pub_mouse_left_.shutdown();
+  }
+}
+
+void ImageView::onMouseLeft(int x, int y)
+{
+  if(ui_.publish_click_location_check_box->isChecked() && !ui_.image_frame->getImage().isNull())
+  {
+    geometry_msgs::Point clickLocation;
+    // Publish click location in pixel coordinates
+    clickLocation.x = round((double)x/(double)ui_.image_frame->width()*(double)ui_.image_frame->getImage().width());
+    clickLocation.y = round((double)y/(double)ui_.image_frame->height()*(double)ui_.image_frame->getImage().height());
+    clickLocation.z = 0;
+    pub_mouse_left_.publish(clickLocation);
+  }
+}
+
+void ImageView::onPubTopicChanged()
+{
+  pub_topic_custom_ = !(ui_.publish_click_location_topic_line_edit->text().isEmpty());
+  onMousePublish(ui_.publish_click_location_check_box->isChecked());
+}
+
 void ImageView::callbackImage(const sensor_msgs::Image::ConstPtr& msg)
 {
   try

rqt_image_view/src/rqt_image_view/image_view.ui

@@ -16,7 +16,7 @@
   <property name="windowTitle">
    <string>Image View</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1,0">
+  <layout class="QVBoxLayout" name="verticalLayout" stretch="0,0,1,0">
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,1">
      <item>
@@ -96,6 +96,46 @@
      </item>
     </layout>
    </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QCheckBox" name="publish_click_location_check_box">
+       <property name="toolTip">
+        <string>Publish click location</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="publish_click_location_topic_line_edit">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="toolTip">
+        <string>Click location topic (leave empty for auto-naming)</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,0">
      <property name="spacing">

rqt_image_view/src/rqt_image_view/ratio_layouted_frame.cpp

@@ -33,6 +33,7 @@
 #include <rqt_image_view/ratio_layouted_frame.h>
 
 #include <assert.h>
+#include <QMouseEvent>
 
 namespace rqt_image_view {
 
@@ -159,4 +160,12 @@ int RatioLayoutedFrame::greatestCommonDivisor(int a, int b)
   return greatestCommonDivisor(b, a % b);
 }
 
+void RatioLayoutedFrame::mousePressEvent(QMouseEvent * mouseEvent)
+{
+  if(mouseEvent->button() == Qt::LeftButton)
+  {
+    emit mouseLeft(mouseEvent->x(), mouseEvent->y());
+  }
+  QFrame::mousePressEvent(mouseEvent);
+}
 }