diff --git a/src/turtle_frame.cpp b/src/turtle_frame.cpp index c3a24c82fd9f6f31726fb57fe32a734232149eac..38565af96dc67d6720efdbb971a4bd2e7994b855 100644 --- a/src/turtle_frame.cpp +++ b/src/turtle_frame.cpp @@ -297,22 +297,12 @@ bool TurtleFrame::resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Resp void TurtleFrame::drawImage(turtlesim_xl::img imgData) { QPointF point; - point.setX(imgData.x); - point.setY(imgData.y); - - std::vector<uint8_t> rawImg; - for(uint8_t nr : imgData.img) { - rawImg.push_back(nr); - } - - //ROS_INFO("Img Count: %lu; QByte Count: %d", imgData.img.size() , byAr.size()); - + point.setY(FRAME_HEIGHT -imgData.y); + const u_char *c = reinterpret_cast<const u_char *>(&imgData.img[0]); QImage img; - //img.loadFromData(byAr); - - //ROS_INFO("Draw msg img at: x = %f; y = %f", point.x(), point.y()); - //path_painter_.drawImage(point, img); + img.loadFromData(c,imgData.img.size()); + path_painter_.drawImage(point, img); } }