screenshot_listener_tool.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 
00036 #include <ros/ros.h>
00037 #include <rviz/tool_manager.h>
00038 #include <rviz/display_context.h>
00039 #include <rviz/view_manager.h>
00040 #include <rviz/display_group.h>
00041 #include <rviz/display.h>
00042 #include <rviz/render_panel.h>
00043 #include <QImageWriter>
00044 #include "screenshot_listener_tool.h"
00045 
00046 namespace jsk_rviz_plugins
00047 {
00048   ScreenshotListenerTool::ScreenshotListenerTool()
00049     : rviz::Tool()
00050   {
00051 
00052   }
00053   ScreenshotListenerTool::~ScreenshotListenerTool()
00054   {
00055 
00056   }
00057 
00058   void ScreenshotListenerTool::onInitialize()
00059   {
00060     ros::NodeHandle nh;
00061     screenshot_service_ = nh.advertiseService(
00062       "/rviz/screenshot",
00063       &ScreenshotListenerTool::takeScreenShot, this);
00064   }
00065   
00066   void ScreenshotListenerTool::activate()
00067   {
00068     
00069   }
00070 
00071   void ScreenshotListenerTool::deactivate()
00072   {
00073    
00074   }
00075 
00076   bool ScreenshotListenerTool::takeScreenShot(
00077     jsk_rviz_plugins::Screenshot::Request& req,
00078     jsk_rviz_plugins::Screenshot::Response& res)
00079   {
00080     QPixmap screenshot = QPixmap::grabWindow(context_->getViewManager()->getRenderPanel()->winId());
00081     QString output_file = QString::fromStdString(req.file_name);
00082     QImageWriter writer(output_file);
00083     writer.write(screenshot.toImage());
00084     return true;
00085   }
00086 
00087 }
00088 
00089 #include <pluginlib/class_list_macros.h>
00090 PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::ScreenshotListenerTool, rviz::Tool )


jsk_rviz_plugins
Author(s): Kei Okada , Yohei Kakiuchi , Shohei Fujii , Ryohei Ueda
autogenerated on Wed May 1 2019 02:40:22