(#1737) Trying to implement rhaschke's comments.

ros-visualization · Aug 10, 2022 · 0135a80 · 0135a80
1 parent 6197411
commit 0135a80
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Showing 4 changed files with 25 additions and 24 deletions.
diff --git a/src/rviz/default_plugin/image_display.cpp b/src/rviz/default_plugin/image_display.cpp
@@ -73,7 +73,6 @@ ImageDisplay::ImageDisplay() : ImageDisplayBase(), texture_()
 
   got_float_image_ = false;
 
-  mouse_click = new MouseClick();
 }
 
 void ImageDisplay::onInitialize()
@@ -133,7 +132,9 @@ void ImageDisplay::onInitialize()
 
   updateNormalizeOptions();
 
-  mouse_click->onInitialize(render_panel_);
+
+  mouse_click_.reset(new MouseClick(render_panel_, update_nh_));
+  mouse_click_->onInitialize();
 }
 
 ImageDisplay::~ImageDisplay()
@@ -149,7 +150,7 @@ ImageDisplay::~ImageDisplay()
 void ImageDisplay::onEnable()
 {
   ImageDisplayBase::subscribe();
-  mouse_click->publish();
+  mouse_click_->publish();
 
   render_panel_->getRenderWindow()->setActive(true);
 }
@@ -158,7 +159,7 @@ void ImageDisplay::onDisable()
 {
   render_panel_->getRenderWindow()->setActive(false);
   ImageDisplayBase::unsubscribe();
-  mouse_click->unpublish();
+  mouse_click_->unpublish();
 
   reset();
 }
@@ -220,7 +221,7 @@ void ImageDisplay::update(float wall_dt, float ros_dt)
 
     render_panel_->getRenderWindow()->update();
 
-    mouse_click->setDimensions(img_width, img_height, win_width, win_height);
+    mouse_click_->setDimensions(img_width, img_height, win_width, win_height);
   }
   catch (UnsupportedImageEncoding& e)
   {
@@ -254,13 +255,13 @@ void ImageDisplay::processMessage(const sensor_msgs::Image::ConstPtr& msg)
 void ImageDisplay::setTopic(const QString& topic, const QString& datatype)
 {
   ImageDisplayBase::setTopic(topic, datatype);
-  mouse_click->setTopic(topic);
+  mouse_click_->setTopic(topic);
 }
 
 void ImageDisplay::updateTopic()
 {
   ImageDisplayBase::updateTopic();
-  mouse_click->updateTopic(topic_property_->getTopic());
+  mouse_click_->updateTopic(topic_property_->getTopic());
 }
 
 

diff --git a/src/rviz/default_plugin/image_display.h b/src/rviz/default_plugin/image_display.h
@@ -102,7 +102,7 @@ public Q_SLOTS:
   IntProperty* median_buffer_size_property_;
   bool got_float_image_;
 
-  MouseClick* mouse_click_;
+  boost::shared_ptr<MouseClick> mouse_click_;
 };
 
 } // namespace rviz

diff --git a/src/rviz/image/mouse_click.cpp b/src/rviz/image/mouse_click.cpp
@@ -6,31 +6,30 @@
 namespace rviz
 {
 
-MouseClick::MouseClick() : QObject()
+MouseClick::MouseClick(QObject* parent, const ros::NodeHandle& nh) : QObject(parent)
 {
+  node_handle_.reset(new ros::NodeHandle());
+  *node_handle_ = nh;
+  has_dimensions_ = false;
+  is_topic_name_ok_ = false;
+  setParent(parent);
+  parent->installEventFilter(this);
 }
 
 MouseClick::~MouseClick()
 {
 }
 
-
-void MouseClick::onInitialize(QObject* parent)
+void MouseClick::onInitialize()
 {
-  setParent(parent);
-  parent->installEventFilter(this);
-
-  has_dimensions_ = false;
-  is_topic_name_ok_ = false;
-  node_handle_.reset(new ros::NodeHandle());
 }
 
 void MouseClick::publish()
 {
   if (is_topic_name_ok_)
   {
     publisher_.reset(
-        new ros::Publisher(node_handle_->advertise<geometry_msgs::PointStamped>(topic_, 1000)));
+        new ros::Publisher(node_handle_->advertise<geometry_msgs::PointStamped>(topic_, 1)));
   }
 }
 
@@ -82,10 +81,10 @@ bool MouseClick::eventFilter(QObject* obj, QEvent* event)
       if (pix_x >= 0 && pix_x < img_width_ && pix_y >= 0 && pix_y < img_height_)
       {
         geometry_msgs::PointStamped point_msg;
-        point_msgs.header.stamp = ros::Time::now();
-        point_msgs.point.x = pix_x;
-        point_msgs.point.y = pix_y;
-        publisher_->publish(point_msgs);
+        point_msg.header.stamp = ros::Time::now();
+        point_msg.point.x = pix_x;
+        point_msg.point.y = pix_y;
+        publisher_->publish(point_msg);
       }
     }
   }

diff --git a/src/rviz/image/mouse_click.h b/src/rviz/image/mouse_click.h
@@ -15,6 +15,7 @@
 #include "std_msgs/String.h"
 
 #include "rviz/rviz_export.h"
+#include "rviz/display.h"
 #endif
 
 
@@ -33,10 +34,10 @@ namespace rviz
 class RVIZ_EXPORT MouseClick : QObject
 {
 public:
-  MouseClick();
+  MouseClick(QObject* parent, const ros::NodeHandle& nh);
   ~MouseClick();
 
-  void onInitialize(QObject* parent);
+  void onInitialize();
 
   /** @brief ROS topic management. */
   void publish();