#378 Basic functionality working. Will need more work but we can alre…

…ady published the clicked points.

atom_rviz_plugins/image_display_with_click/CMakeLists.txt

@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.5)
+project(image_display_with_click)
+
+###################
+# compile options #
+###################
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -fno-asm -fPIC")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g -O0")
+
+
+# Qt settings #
+find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+#find_package(QCustomPlot)
+
+macro(qt_wrap_ui)
+  qt5_wrap_ui(${ARGN})
+endmacro()
+include_directories(${Qt5Core_INCLUDE_DIRS})
+include_directories(${Qt5Widgets_INCLUDE_DIRS})
+add_definitions(-DQT_NO_KEYWORDS)
+# cmake settings #
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+
+# catkin #
+set(DEPEND_ROS_PKGS
+  class_loader
+  pluginlib
+  roscpp
+  rviz
+  std_msgs
+  atom_msgs
+  )
+find_package(catkin REQUIRED
+  COMPONENTS
+  ${DEPEND_ROS_PKGS}
+  )
+
+catkin_package(
+  INCLUDE_DIRS
+  include
+  LIBRARIES
+  ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  ${DEPEND_ROS_PKGS}
+  DEPENDS
+  )
+
+#########
+# Build #
+#########
+## add include directory ##
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  )
+## add library path ##
+link_directories(${catkin_LIBRARY_DIRS})
+
+# source codes #
+set(HEADERS
+  include/image_display_with_click/image_display_with_click.h
+  include/image_display_with_click/mouse_watcher.h
+  )
+#qt5_wrap_ui(UIC_FILES
+#  src/ui/calibration_panel.ui
+#  )
+
+set(SOURCE_FILES
+        src/plugin_load.cpp
+        src/image_display_with_click.cpp
+        src/mouse_watcher.cpp
+  )
+
+add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADERS} ${UIC_FILES})
+set_target_properties(${PROJECT_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_include_directories(${PROJECT_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")
+
+
+
+###########
+# Install #
+###########
+install(FILES plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY icons DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY include/ DESTINATION include)
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)

atom_rviz_plugins/image_display_with_click/include/image_display_with_click/image_display_with_click.h

@@ -0,0 +1,85 @@
+#ifndef IMAGE_DISPLAY_WITH_CLICK_H
+#define IMAGE_DISPLAY_WITH_CLICK_H
+
+#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
+#include "../../../../../../../usr/include/x86_64-linux-gnu/qt5/QtCore/QObject"
+#include "../../../../../../../usr/include/OGRE/OgreMaterial.h"
+#include "../../../../../../../usr/include/OGRE/OgreRenderTargetListener.h"
+#include "../../../../../../../usr/include/OGRE/OgreSharedPtr.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/image/image_display_base.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/image/ros_image_texture.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/render_panel.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/properties/bool_property.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/properties/float_property.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/properties/int_property.h"
+#endif
+
+#include <iostream>
+#include <QMouseEvent>
+
+#include "ros/ros.h"
+#include "geometry_msgs/PointStamped.h"
+#include "std_msgs/String.h"
+
+#include <image_display_with_click/mouse_watcher.h>
+
+namespace Ogre
+{
+    class SceneNode;
+    class Rectangle2D;
+} // namespace Ogre
+
+using namespace std;
+
+namespace atom_rviz
+{
+    class ImageDisplayWithClick : public rviz::ImageDisplayBase
+    {
+    Q_OBJECT
+    public:
+        ImageDisplayWithClick();
+        ~ImageDisplayWithClick() override;
+
+        // Overrides from Display
+        void onInitialize() override;
+        void update(float wall_dt, float ros_dt) override;
+        void reset() override;
+
+    public Q_SLOTS:
+        virtual void updateNormalizeOptions();
+
+
+
+    protected:
+        // overrides from Display
+        void onEnable() override;
+        void onDisable() override;
+
+        /* This is called by incomingMessage(). */
+        void processMessage(const sensor_msgs::Image::ConstPtr& msg) override;
+
+        Ogre::SceneManager* img_scene_manager_;
+
+        rviz::ROSImageTexture texture_;
+
+        rviz::RenderPanel* render_panel_;
+
+
+    private:
+        Ogre::SceneNode* img_scene_node_;
+        Ogre::Rectangle2D* screen_rect_;
+        Ogre::MaterialPtr material_;
+
+        BoolProperty* normalize_property_;
+        rviz::FloatProperty* min_property_;
+        rviz::FloatProperty* max_property_;
+        rviz::IntProperty* median_buffer_size_property_;
+        bool got_float_image_;
+
+        MouseWatcher* mouse_watcher;
+    };
+
+} // namespace rviz
+
+
+#endif

atom_rviz_plugins/image_display_with_click/include/image_display_with_click/mouse_watcher.h

@@ -0,0 +1,50 @@
+#ifndef MOUSE_WATCHER_H
+#define MOUSE_WATCHER_H
+
+#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
+#include "../../../../../../../usr/include/x86_64-linux-gnu/qt5/QtCore/QObject"
+#include "../../../../../../../usr/include/OGRE/OgreMaterial.h"
+#include "../../../../../../../usr/include/OGRE/OgreRenderTargetListener.h"
+#include "../../../../../../../usr/include/OGRE/OgreSharedPtr.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/image/image_display_base.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/image/ros_image_texture.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/render_panel.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/properties/bool_property.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/properties/float_property.h"
+#include "../../../../../../../opt/ros/noetic/include/rviz/properties/int_property.h"
+#endif
+
+#include <iostream>
+#include <string>
+
+#include <QMouseEvent>
+
+#include "ros/ros.h"
+#include "geometry_msgs/PointStamped.h"
+#include "std_msgs/String.h"
+
+using namespace std;
+
+namespace atom_rviz
+{
+class MouseWatcher : public QObject
+{
+public:
+    MouseWatcher(QWidget * parent);
+    virtual bool eventFilter(QObject * obj, QEvent * event);
+    void setDimensions(int _img_width, int _img_height, int _win_width, int _win_height);
+    void setTopic(string image_topic);
+
+private:
+    string image_click_topic;
+    bool has_dimensions;
+    int img_width;
+    int img_height;
+    int win_width;
+    int win_height;
+    ros::Publisher* mouse_event_pub;
+    ros::NodeHandle* node_handle;
+};
+
+} // namespace rviz
+#endif