MeshLabelTestClient.java

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package edu.tum.cs.ias.knowrob;

import ros.*;
import ros.pkg.mesh_label_node.srv.LabelMesh;


public class MeshLabelTestClient {

                
        public static void main(String args[]) {
                  
                Ros ros = Ros.getInstance();
                if(!Ros.getInstance().isInitialized()) {
                        ros.init("mesh_label_test_client");
                }
                NodeHandle n = ros.createNodeHandle();
                
                MeshVisApplet m = new MeshVisApplet();
                
                
                for(String file : new String[]{ "./vtk/cup_handle_side_from_cylinder.vtk",
                                                                                //"./vtk/cup_handle_side.vtk",
                                                                                //"./vtk/teapot_green_order_5_th_0004.vtk",
                                                                                //"./vtk/teapot.vtk",
                                                                                //"./vtk/cornflakes.vtk"
                                }) {

                        //m.readMeshFile();
                        m.readMeshFile(file);

                        //mesh_applet.readMeshData("./vtk/teapot_green_order_5_th_0004.vtk");
                        
                        LabelMesh.Request req = new LabelMesh.Request();
                        req.mesh = m.getTriangleMesh();
                        
                        ServiceClient<LabelMesh.Request, LabelMesh.Response, LabelMesh> cl = 
                                                                n.serviceClient("/mesh_label_node", new LabelMesh());
                        
                        try {
                                LabelMesh.Response res = cl.call(req);
                                System.out.println("Label: " +res.label);
                                
                        } catch (RosException e) {
                                e.printStackTrace();
                        }
                        
                }
                

                
        }
}