Menu
▾
▴
[TUM-ros-pkg-commit] SF.net SVN: tum-ros-pkg:[996] perception/zbar_barcode_reader_node/src/ zbar_barcode_reader_node.cpp
|
From: <tum...@li...> - 2012-02-24 00:37:52
|
Revision: 996
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=996&view=rev
Author: moesenle
Date: 2012-02-24 00:37:45 +0000 (Fri, 24 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Fri Feb 24 01:37:22 2012 +0100
commit cbb807243e3bbe09543973f9d8976c70f7904eab
Author: Dejan Pangercic <dej...@cs...>
Date: Fri Feb 24 01:36:20 2012 +0100
got rid of IplImage, needed to be tested
commit 9d9f1f2127342dfece2d09aa07b355aa0cf4feaf
Author: Dejan Pangercic <dej...@cs...>
Date: Fri Feb 24 00:40:34 2012 +0100
ROS_INFO_STREAM, cv_bridge_ptr as class member
commit 92834a4d47ff06e0809906e59bbddbfed2848ee9
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:15:45 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-18 21:16:22 UTC (rev 995)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-24 00:37:45 UTC (rev 996)
@@ -49,12 +49,6 @@
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
{
- //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="));
@@ -66,7 +60,6 @@
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
barcode_pub_ =
n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
- //cv::namedWindow ("Barcoo img");
enable_barcode_reader_ = 0;
service_ = n.advertiseService("enable_barcode_reader_service", &BarcodeReaderNode::enable_barcode_reader,this);
image_received_ = 0;
@@ -221,15 +214,12 @@
//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";
+ ROS_INFO_STREAM("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_);
@@ -333,15 +323,14 @@
if(!enable_barcode_reader_)
return;
- IplImage *cv_image = NULL;
ROS_INFO("[BarcodeReaderNode: ] Image received");
try
{
- cv_image = bridge_.imgMsgToCv(msg_ptr, "mono8");
+ cv_bridge_ptr_ = cv_bridge::toCvCopy(msg_ptr, "mono8");
}
- catch (sensor_msgs::CvBridgeException error)
+ catch (cv_bridge::Exception& e)
{
- ROS_ERROR("error");
+ ROS_ERROR("Error converting ROS Image");
}
// create a reader
@@ -350,12 +339,12 @@
// configure the reader
scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
+ int width = cv_bridge_ptr_->image.cols; // extract dimensions
+ int height = cv_bridge_ptr_->image.rows;
+
// obtain image data
- // IplImage * cv_image = cvLoadImage(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
- Magick::Blob blob(cv_image->imageData, cv_image->imageSize);
+ Magick::Blob blob(cv_bridge_ptr_->image.ptr(0), width * height);
- int width = cv_image->width; // extract dimensions
- int height = cv_image->height;
const void *raw = blob.data();
// wrap image data
@@ -403,7 +392,7 @@
image_received_ = 1;
return;
}
- // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
+
//Search for info in the xml file
std::string pictureLink;
res = getPictureLink (buffer,pictureLink);
@@ -411,7 +400,7 @@
if(res == 0) //If barcode does not exist in the database return
{
- cout << "Barcode does not exist in the barcoo datbase\n";
+ ROS_INFO_STREAM("Barcode does not exist in the barcoo datbase");
image_received_ = 1;
return;
}
@@ -423,7 +412,7 @@
std::string htmlPage;
std::string htmlLink;
findElement(&doc,htmlLink,"back_link");
- cout << "html link: "+htmlLink+"\n";
+ ROS_INFO_STREAM ("html link: " << htmlLink);
//Download HTML page
getHTMLpage(htmlLink,htmlPage);
std::string ss = pattern_;
@@ -447,32 +436,19 @@
//publish image
if (!(imgTmp.empty()))
{
- //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();
+ cv_bridge_ptr_->header.stamp = ros::Time::now();
+ cv_bridge_ptr_->header.frame_id = "frame";
+ cv_bridge_ptr_->encoding = "bgr8";
+ cv_bridge_ptr_->image = imgTmp;
+ ros_image = cv_bridge_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);
}
protected:
@@ -488,6 +464,7 @@
std::string product_producer;
std::string product_category;
ros::ServiceServer service_;
+ cv_bridge::CvImagePtr cv_bridge_ptr_;
};
int main(int argc, char** argv)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|