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[TUM-ros-pkg-commit] SF.net SVN: tum-ros-pkg:[989] perception/zbar_barcode_reader_node
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From: <tum...@li...> - 2012-02-05 18:32:45
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Revision: 989
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=989&view=rev
Author: moesenle
Date: 2012-02-05 18:32:38 +0000 (Sun, 05 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:32:04 2012 +0100
commit 0d6623d44c2cb9056ee62606f63b79be374f2dfe
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:31:38 2012 +0100
refactored the code
commit 2b90812f874db614252cc411ea9f6581e05cc527
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:56:00 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/launch/barcode_reader.launch
perception/zbar_barcode_reader_node/rosdep.yaml
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/launch/barcode_reader.launch
===================================================================
--- perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-01-31 16:56:47 UTC (rev 988)
+++ perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-02-05 18:32:38 UTC (rev 989)
@@ -1,5 +1,12 @@
<launch>
- <node pkg="zbar_barcode_reader_node" type="zbar_barcode_reader_node" name="barcode_reader_node" output="screen" respawn="true">
+ <node pkg="zbar_barcode_reader_node" type="zbar_barcode_reader_node" name="barcode_reader_node" output="screen" respawn="false">
<param name="input_image_topic" type="string" value="/image_raw" />
+ <param name="link1" type="string" value="http://www.barcoo.com/api/get_product_complete?pi=" />
+ <param name="link2" type="string" value="&pins=ean&format=xml&source=ias-tum" />
+ <param name="tag1" type="string" value="answer" />
+ <param name="tag2" type="string" value="picture_high" />
+ <param name="tag3" type="string" value="picture_low" />
+ <param name="image_pattern" type="string" value="<meta property="og:image" content="" />
+
</node>
</launch>
Modified: perception/zbar_barcode_reader_node/rosdep.yaml
===================================================================
--- perception/zbar_barcode_reader_node/rosdep.yaml 2012-01-31 16:56:47 UTC (rev 988)
+++ perception/zbar_barcode_reader_node/rosdep.yaml 2012-02-05 18:32:38 UTC (rev 989)
@@ -1,7 +1,11 @@
libcurl:
ubuntu:
11.04: libcurl3
+ oneiric: libcurl3
libtinyxml:
ubuntu:
11.04: libtinyxml-dev
+ oneiric: libtinyxml-dev
+
+
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 16:56:47 UTC (rev 988)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-05 18:32:38 UTC (rev 989)
@@ -22,6 +22,13 @@
using namespace zbar;
class BarcodeReaderNode {
+ std:: string link1_;// = "http://www.barcoo.com/api/get_product_complete?pi=";
+ std:: string link2_;// = "&pins=ean&format=xml&source=ias-tum";
+ std:: string tag1_;// = "answer";
+ std:: string tag2_;// = "picture_high";
+ std:: string tag3_;// = "picture_low";
+ std:: string pattern_;// = "<meta property=\"og:image\" content=\"";
+ TiXmlDocument doc;
public:
struct memoryStruct {
@@ -39,8 +46,19 @@
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
{
- n_.param ("input_image_topic", input_image_topic_, std::string("/stereo/left/image_rect"));
+ //link1 = "http://www.barcoo.com/api/get_product_complete?pi=";
+ //link2 = "&pins=ean&format=xml&source=ias-tum";
+ //tag1 = "answer";
+ //tag2 = "picture_high";
+ //tag3 = "picture_low";
+
+ n_.param ("input_image_topic", input_image_topic_, std::string("/image_raw"));
n_.param ("outout_barcode_topic", output_barcode_topic_, std::string("barcode"));
+ n_.param ("link1", link1_, std::string("http://www.barcoo.com/api/get_product_complete?pi="));
+ n_.param ("link2", link2_, std::string("&pins=ean&format=xml&source=ias-tum"));
+ n_.param ("tag2", tag2_, std::string("picture_high"));
+ n_.param ("tag3", tag3_, std::string("picture_low"));
+ n_.param ("image_pattern", pattern_, std::string("<meta property=\"og:image\" content=\""));
image_sub_ = it_.subscribe(
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
barcode_pub_ =
@@ -67,7 +85,7 @@
{
UserData *userdata = reinterpret_cast<UserData *>(data);
struct memoryStruct *mem = userdata->memory;
- BarcodeReaderNode *self = userdata->self;
+ //BarcodeReaderNode *self = userdata->self;
size_t realsize = size * nmemb;
mem->memory = (char *)
@@ -100,11 +118,10 @@
return result;
}
- int getImage(std::string & image)
+ int getImage(std::string image, cv::Mat * imgTmp)
{
CURL *curl; // CURL objects
CURLcode res;
- cv::Mat imgTmp; // image object
memoryStruct buffer; // memory buffer
UserData userdata(&buffer, this);
@@ -129,16 +146,7 @@
// get the image from the specified URL
res = curl_easy_perform(curl);
// decode memory buffer using OpenCV
- imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), CV_LOAD_IMAGE_UNCHANGED);
- // display image (if we got / decoded it correctly)
-
-
- if (!(imgTmp.empty()))
- {
- imshow("Barcoo img", imgTmp);
- }
- cv::waitKey(3);
-
+ *imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), CV_LOAD_IMAGE_UNCHANGED);
// always cleanup
curl_easy_cleanup(curl);
@@ -147,52 +155,60 @@
return 1;
}
- void findElement( TiXmlNode* pParent, std::string & picture)
+ void findElement( TiXmlNode* pParent, std::string & picture, std:: string tag)
{
- if ( !pParent ) return;
+ //if ( !pParent ) return;
TiXmlNode* pChild;
- //std::string picture ("Picture Not Found");
std::string pstring = pParent->Value();
- // std::cerr << "pstring: " << pstring << std::endl;
- size_t found=pstring.find("picture_high");
+
+ //Search for tag
+ size_t found=pstring.find(tag);
if (found!=std::string::npos)
- {
- ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
- picture = pParent->FirstChild()->Value();
- return;
- }
- size_t found2=pstring.find("picture_low");
- if (found2!=std::string::npos && picture == "")
- {
- ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
- picture = pParent->FirstChild()->Value();
- return;
- }
- for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
- {
- findElement(pChild, picture);
- // std::cerr << "in for " << std::endl;
- }
+ {
+ ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
+ picture = pParent->FirstChild()->Value();
+ return;
+ }
+
+ for( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
+ {
+ findElement(pChild, picture,tag);
+ }
}
- int visBarcooPicture(std::string buffer)
+ int getPictureLink(std::string buffer,std::string & picture)
{
- // std::cerr << "buffer: " << buffer << std::endl;
- TiXmlDocument doc;
doc.Parse((const char*)buffer.c_str(), 0, TIXML_ENCODING_UTF8);
- std::string picture;
- findElement (&doc, picture);
+
+ //Check if there is a result
+ std:: string result;
+ cout << "ohhh my goooooood\n\n";
+ findElement(&doc,result,tag1_);
+ if(result.compare("0") == 0) //This condition checks if there is a result in the XML file if not returns 0
+ {
+ cout << "heloooooo barcode does not correspond to any object in the barcoo database";
+ return 0;
+ }
+ else
+ cout << "ELSE ELSE ELSE\n";
+
+ //Search for first tag
+ findElement (&doc, picture,tag2_);
+
+ if(picture == "")
+ findElement (&doc, picture,tag3_); //Search for second tag
+
ROS_INFO_STREAM ("Picture link: " << picture);
if (picture == "")
return -1;
- getImage (picture);
+
return 1;
}
- int callBarcoo(std::string bar_code, std::string & buffer)
+ int getBarcooXML(std::string bar_code, std::string & buffer)
{
char errorBuffer[CURL_ERROR_SIZE];
// Our curl objects
@@ -200,7 +216,7 @@
CURLcode result;
// Create our curl handle
curl = curl_easy_init();
- std::string full_url = "http://www.barcoo.com/api/get_product_complete?pi=" + bar_code + "&pins=ean&format=xml&source=ias-tum";
+ std::string full_url = link1_ + bar_code + link2_;
ROS_INFO_STREAM("full_url: " << full_url);
if (curl)
@@ -236,6 +252,45 @@
return -1;
}
+ int getHTMLpage(std::string url, std::string & buffer)
+ {
+ char errorBuffer[CURL_ERROR_SIZE];
+ // Our curl objects
+ CURL *curl;
+ CURLcode result;
+ // Create our curl handle
+ curl = curl_easy_init();
+ if (curl)
+ {
+ // Now set up all of the curl options
+ curl_easy_setopt(curl, CURLOPT_ERRORBUFFER, errorBuffer);
+ curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+ curl_easy_setopt(curl, CURLOPT_HEADER, 0);
+ curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+ curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::writer);
+ // curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writer);
+ curl_easy_setopt(curl, CURLOPT_WRITEDATA, &buffer);
+
+ // Attempt to retrieve the remote page
+ result = curl_easy_perform(curl);
+
+ // Always cleanup
+ curl_easy_cleanup(curl);
+
+ // Did we succeed?
+ if (result == CURLE_OK)
+ {
+
+ return 1;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+ return -1;
+ }
+
void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr)
{
@@ -288,26 +343,70 @@
barcode_pub_.publish(msg);
}
if (n == 0)
- {
- ROS_WARN("Barcode not found");
- return;
- }
+ {
+ ROS_WARN("Barcode not found");
+ return;
+ }
if (n < 0)
- {
- ROS_ERROR("Error occured while finding barcode");
- return;
- }
+ {
+ ROS_ERROR("Error occured while finding barcode");
+ return;
+ }
std::string buffer;
- if (callBarcoo(ss.str(), buffer) == 1)
- {
- // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
- visBarcooPicture (buffer);
- }
+ //Get xml file from barcoo database
+ int res = getBarcooXML(ss.str(), buffer);
+ if(res != 1)
+ return;
+ // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
+ //Search for info in the xml file
+ std::string pictureLink;
+ res = getPictureLink (buffer,pictureLink);
+
+
+ if(res == 0) //If barcode does not exist in the database return
+ {
+ cout << "Barcode does not exist in the barcoo datbase\n";
+ return;
+ }
+ if(res == -1) //This condition is true when the image link is not given
+ {
+ //Look for an image in the HTML file
+
+ //First find the link to the barcoo website of the file
+ std::string htmlPage;
+ std::string htmlLink;
+ findElement(&doc,htmlLink,"back_link");
+ cout << "html link: "+htmlLink+"\n";
+ //Download HTML page
+ getHTMLpage(htmlLink,htmlPage);
+ std::string ss = pattern_;
+ long position = htmlPage.find(ss, ss.length()) + ss.length();
+
+ std::string link;
+ while(htmlPage.at(position) !='"')
+ {
+ link += htmlPage.at(position);
+ position++;
+ }
+ pictureLink = link;
+
+ }
+ //Get Image
+ if(!pictureLink.empty())
+ {
+ cv::Mat imgTmp; // image object
+ getImage (pictureLink ,& imgTmp);
+ // display image
+ if (!(imgTmp.empty()))
+ {
+ imshow("Barcoo img", imgTmp);
+ }
+ }
+ cv::waitKey(3);
// clean up
image.set_data(NULL, 0);
-
}
protected:
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