void TriangleTransform::onActionTransform()
{
if (!this->srcImgArea->isImgEmpty())
{
ImageTransform imgTrans(this->srcImgArea->filePath);
imgTrans.setType(TRIANGLETRANS);
std::vector<Wml::Vector2f> src, dst;
std::cout << "src" << std::endl;
for (int i = 0; i < 3; i++)
{
src.push_back(Wml::Vector2f(this->srcImgArea->triPoint[i][0], this->srcImgArea->triPoint[i][1]));
}
int h = this->srcImgArea->imgHeigth;
int w = this->srcImgArea->imgWidth;
dst.push_back(Wml::Vector2f(w*0.5, h*0.2));
dst.push_back(Wml::Vector2f(w*0.1, h*0.5));
dst.push_back(Wml::Vector2f(w*0.7, h*0.7));
for (int i = 0; i < src.size(); i++)
{
src[i][1] = h-1 - src[i][1];
dst[i][1] = h-1 - dst[i][1];
}
imgTrans.setTriangleTransPoint(src, dst);
imgTrans.doTransform();
//imgTrans.testCopyToDstImg();
this->dstImgArea->loadFromBoxPartImage(imgTrans.getBoxPartImage());
this->dstImgArea->update();
}
}
NavigationNode::NavigationNode(NavigationGUI *newgui) {
ROS_INFO("Starting Navigation Node");
gui = newgui;
//a nodehandler is used to communiate with the rest of ros
ros::NodeHandle n("~");
image_transport::ImageTransport imgTrans(n);
//Initialise all the information to be used in by the gui
battery = 6;
signal = 6;
tiltX = 30;
tiltY = 30;
ultrasonic = 0;
//Initialise the feeds array
for(int i = 0; i < TOTAL_FEEDS; i++)
feeds[i] = FEED_OFFLINE;
//
// Subscribe to all relevant topics for information used by the gui
// pass the function that is called when a message is received into the subscribe function
//
gpsSub = n.subscribe("/gps/fix", 1000, &NavigationNode::receiveGpsMsg, this); // GPS related data
batterySub = n.subscribe("/status/battery", 1000, &NavigationNode::receiveBatteryMsg, this); // Power left on the battery
feedsSub = n.subscribe("/owr/control/availableFeeds", 1000, &NavigationNode::receiveFeedsStatus, this);
// Subscribe to all topics that will be published to by cameras, if the topic hasnt been
// created yet, will wait til it has w/o doing anything
//ros::TransportHints transportHints = ros::TransportHints().tcpNoDelay();
//image_transport::TransportHints transportHints = ros::TransportHints().tcpNoDelay();
// Frames of video from camera
videoSub[0] = imgTrans.subscribe("/cam0", 1, &NavigationNode::receiveVideoMsg, this, image_transport::TransportHints("compressed"));
videoSub[1] = imgTrans.subscribe("/cam1", 1, &NavigationNode::receiveVideoMsg, this, image_transport::TransportHints("compressed"));
videoSub[2] = imgTrans.subscribe("/cam2", 1, &NavigationNode::receiveVideoMsg, this, image_transport::TransportHints("compressed"));
videoSub[3] = imgTrans.subscribe("/cam3", 1, &NavigationNode::receiveVideoMsg, this, image_transport::TransportHints("compressed"));
}
