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[TUM-ros-pkg-commit] SF.net SVN: tum-ros-pkg:[994] perception/zbar_barcode_reader_node
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From: <tum...@li...> - 2012-02-18 21:16:21
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Revision: 994
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=994&view=rev
Author: moesenle
Date: 2012-02-18 21:16:15 +0000 (Sat, 18 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:09:16 2012 +0100
commit 15f57613e25e8ac1395a38f99f8bad776e07e8a4
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:08:43 2012 +0100
new service definition and integration into the server
commit d9f59658e46f74926677d131c1941e1fed7e9fdb
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:32:04 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/manifest.xml
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Added Paths:
-----------
perception/zbar_barcode_reader_node/srv/
perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-14 13:27:57 UTC (rev 993)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-18 21:16:15 UTC (rev 994)
@@ -17,7 +17,7 @@
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
-#rosbuild_genmsg()
+rosbuild_genmsg()
#uncomment if you have defined services
rosbuild_gensrv()
Modified: perception/zbar_barcode_reader_node/manifest.xml
===================================================================
--- perception/zbar_barcode_reader_node/manifest.xml 2012-02-14 13:27:57 UTC (rev 993)
+++ perception/zbar_barcode_reader_node/manifest.xml 2012-02-18 21:16:15 UTC (rev 994)
@@ -12,9 +12,10 @@
<depend package="opencv2"/>
<depend package="cv_bridge"/>
<depend package="image_transport"/>
- <depend package="sensor_msgs"/>
+ <depend package="sensor_msgs"/>
<rosdep name="libcurl"/>
- <rosdep name="libtinyxml"/>
+ <rosdep name="libtinyxml"/>
+
</package>
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-14 13:27:57 UTC (rev 993)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-18 21:16:15 UTC (rev 994)
@@ -31,7 +31,8 @@
std:: string pattern_;// = "<meta property=\"og:image\" content=\"";
TiXmlDocument doc;
int enable_barcode_reader_;
-
+ int image_received_;
+ int image_found_;
public:
struct memoryStruct {
char *memory;
@@ -65,9 +66,10 @@
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
barcode_pub_ =
n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
- cv::namedWindow ("Barcoo img");
+ //cv::namedWindow ("Barcoo img");
enable_barcode_reader_ = 0;
service_ = n.advertiseService("enable_barcode_reader_service", &BarcodeReaderNode::enable_barcode_reader,this);
+ image_received_ = 0;
}
~BarcodeReaderNode()
@@ -78,8 +80,31 @@
bool enable_barcode_reader(zbar_barcode_reader_node::enable_barcode_reader::Request &req,
zbar_barcode_reader_node::enable_barcode_reader::Response &res )
{
- enable_barcode_reader_ = req.enable;
- return true;
+ enable_barcode_reader_ = req.enable;
+ while(!image_received_)
+ {
+ sleep(1);
+ }
+
+ if(image_found_)
+ {
+ res.title.data = product_title;
+ res.subtitle.data = product_producer;
+ res.category_key.data = product_category;
+ res.image_msg = *ros_image;
+ enable_barcode_reader_ = 0;
+ image_received_ = 0;
+ image_found_ = 0;
+ enable_barcode_reader_ = 0;
+
+ return true;
+ }
+ else
+ {
+ image_received_ = 0;
+ enable_barcode_reader_ = 0;
+ return false;
+ }
}
static void* CURL_realloc(void *ptr, size_t size)
@@ -359,12 +384,14 @@
if (n == 0)
{
ROS_WARN("Barcode not found");
+ image_received_ = 1;
return;
}
if (n < 0)
{
ROS_ERROR("Error occured while finding barcode");
+ image_received_ = 1;
return;
}
@@ -372,7 +399,10 @@
//Get xml file from barcoo database
int res = getBarcooXML(ss.str(), buffer);
if(res != 1)
+ {
+ image_received_ = 1;
return;
+ }
// std::cerr << "buffer after callBarcoo " << buffer << std::endl;
//Search for info in the xml file
std::string pictureLink;
@@ -382,6 +412,7 @@
if(res == 0) //If barcode does not exist in the database return
{
cout << "Barcode does not exist in the barcoo datbase\n";
+ image_received_ = 1;
return;
}
if(res == -1) //This condition is true when the image link is not given
@@ -413,14 +444,35 @@
cv::Mat imgTmp; // image object
getImage (pictureLink ,& imgTmp);
// display image
+ //publish image
if (!(imgTmp.empty()))
{
- imshow("Barcoo img", imgTmp);
+ //imshow("Barcoo img", imgTmp);
+ cv_bridge::CvImagePtr cv_ptr (new cv_bridge::CvImage);
+
+ std::cerr<< "\n\n\n\n\nTESTESTESTESTESTn\n\n\n\n";
+
+ cv_ptr->header.stamp = ros::Time::now();
+ cv_ptr->header.frame_id = "frame";
+ cv_ptr->encoding = "bgr8";
+ std::cerr<< "\n\n\n\n\nHELO00000n\n\n\n\n";
+ cv_ptr->image = imgTmp;
+ std::cerr<< "\n\n\n\n\nHELOn\n\n\n\n";
+
+ ros_image = cv_ptr->toImageMsg();
+ findElement(&doc,product_title,"title");
+ findElement(&doc,product_producer,"producer");
+ findElement(&doc,product_category,"category_key");
+
+
+
+ image_found_ = 1;
}
+ image_received_ = 1;
}
cv::waitKey(3);
// clean up
- image.set_data(NULL, 0);
+ //image.set_data(NULL, 0);
}
protected:
@@ -431,14 +483,21 @@
ros::Publisher barcode_pub_;
sensor_msgs::CvBridge bridge_;
std::string input_image_topic_, output_barcode_topic_;
+ sensor_msgs::ImagePtr ros_image;
+ std::string product_title;
+ std::string product_producer;
+ std::string product_category;
ros::ServiceServer service_;
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "barcode_reader_node");
+ ros::AsyncSpinner spinner(1); // Use 4 threads
+ spinner.start();
ros::NodeHandle n("~");
BarcodeReaderNode br(n);
ros::spin();
+
return 0;
}
Added: perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv
===================================================================
--- perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv (rev 0)
+++ perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv 2012-02-18 21:16:15 UTC (rev 994)
@@ -0,0 +1,6 @@
+int64 enable
+---
+std_msgs/String title
+std_msgs/String subtitle
+std_msgs/String category_key
+sensor_msgs/Image image_msg
\ No newline at end of file
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