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 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 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 )