diff --git a/src/turtle_frame.cpp b/src/turtle_frame.cpp index dd272af315a3041a81a3858dd8ea9354146f0aad..c3a24c82fd9f6f31726fb57fe32a734232149eac 100644 --- a/src/turtle_frame.cpp +++ b/src/turtle_frame.cpp @@ -298,47 +298,21 @@ bool TurtleFrame::resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Resp void TurtleFrame::drawImage(turtlesim_xl::img imgData) { QPointF point; - point.setX(130); - point.setY(140); + point.setX(imgData.x); + point.setY(imgData.y); - // const uint8_t *rawImg = imgData.img.data(); std::vector<uint8_t> rawImg; for(uint8_t nr : imgData.img) { rawImg.push_back(nr); } - const char *c = reinterpret_cast<const char *>(rawImg.data()); - - QByteArray byAr = QByteArray(c); - // for(uint8_t nr : imgData.img) { - // // byAr.append(nr); - // // char byte = nr; - // // byAr.append(byte); - - // // QByteArray tmp = QByteArray::fromRawData(&byte, sizeof(nr)); - // // byAr += tmp; - - // const char *c = reinterpret_cast<const char *>(&nr); - // byAr.append(c); - - // if(i % 250 == 0 && nr != 0) { - // ROS_INFO("img data: %d; char: %d; QByte: %d", nr, c, byAr.at(i)); - // } - // } - ROS_INFO("Img Count: %d; QByte Count: %d", imgData.img.size() , byAr.size()); + //ROS_INFO("Img Count: %lu; QByte Count: %d", imgData.img.size() , byAr.size()); QImage img; - img.loadFromData(byAr); + //img.loadFromData(byAr); - ROS_INFO("Draw msg img at: x = %d; y = %d", 130, 140); - path_painter_.drawImage(point, img); - - // ROS_INFO("Draw loaded img at: x = %d; y = %d", 230, 240); - // point.setX(230); - // point.setY(240); - // img.load("/home/tsu/catkin_ws/src/turtleswarm/images/test.png"); - - // path_painter_.drawImage(point, img); + //ROS_INFO("Draw msg img at: x = %f; y = %f", point.x(), point.y()); + //path_painter_.drawImage(point, img); } }