MeshLabelTestClient.java
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00001 package edu.tum.cs.ias.knowrob;
00002 
00003 import ros.*;
00004 import ros.pkg.mesh_label_node.srv.LabelMesh;
00005 
00006 
00007 public class MeshLabelTestClient {
00008 
00009                 
00010         public static void main(String args[]) {
00011                   
00012                 Ros ros = Ros.getInstance();
00013                 if(!Ros.getInstance().isInitialized()) {
00014                         ros.init("mesh_label_test_client");
00015                 }
00016                 NodeHandle n = ros.createNodeHandle();
00017                 
00018                 MeshVisApplet m = new MeshVisApplet();
00019                 
00020                 
00021                 for(String file : new String[]{ "./vtk/cup_handle_side_from_cylinder.vtk",
00022                                                                                 //"./vtk/cup_handle_side.vtk",
00023                                                                                 //"./vtk/teapot_green_order_5_th_0004.vtk",
00024                                                                                 //"./vtk/teapot.vtk",
00025                                                                                 //"./vtk/cornflakes.vtk"
00026                                 }) {
00027 
00028                         //m.readMeshFile();
00029                         m.readMeshFile(file);
00030 
00031                         //mesh_applet.readMeshData("./vtk/teapot_green_order_5_th_0004.vtk");
00032                         
00033                         LabelMesh.Request req = new LabelMesh.Request();
00034                         req.mesh = m.getTriangleMesh();
00035                         
00036                         ServiceClient<LabelMesh.Request, LabelMesh.Response, LabelMesh> cl = 
00037                                                                 n.serviceClient("/mesh_label_node", new LabelMesh());
00038                         
00039                         try {
00040                                 LabelMesh.Response res = cl.call(req);
00041                                 System.out.println("Label: " +res.label);
00042                                 
00043                         } catch (RosException e) {
00044                                 e.printStackTrace();
00045                         }
00046                         
00047                 }
00048                 
00049 
00050                 
00051         }
00052 }
00053 


mesh_label_node
Author(s): Moritz Tenorth
autogenerated on Mon Oct 6 2014 09:19:55