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From: <tum...@li...> - 2012-01-27 18:37:06
|
Revision: 984
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=984&view=rev
Author: moesenle
Date: 2012-01-27 18:36:55 +0000 (Fri, 27 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Fri Jan 27 19:36:01 2012 +0100
commit 260b7704746b8185e64e3ccb0284ec3054176ff2
Author: Dejan Pangercic <dej...@gm...>
Date: Fri Jan 27 19:34:40 2012 +0100
zbar compiled w/o video support, cpp example of zbar client
commit 60392bba300cd3b7908678100b1645ff182ef8d1
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 22:04:18 2010 +0200
public export
commit 24765aef5f57c082d078c5b599947ed71d0c8437
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 22:02:29 2010 +0200
added a launch file
commit c358c7210ee1c53d032b34118fb84b15c35b9c68
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:59:21 2010 +0200
created a node for barcode reading,
input: image
output: type,value
exchanged c for c++ interface
tested
TODO:
find a n..... that will port to cop:-)
commit 0fd52914acf001cc75df60a84dffc0395a2e769b
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:24:21 2010 +0200
c++ implementation of zbar
commit 1c567129b5432e62765bd0e87f1bc18f2a126bd2
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:23:38 2010 +0200
added dependency
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
Added Paths:
-----------
perception/zbar_barcode_reader_node/src/scan_image.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-27 18:36:44 UTC (rev 983)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-27 18:36:55 UTC (rev 984)
@@ -31,5 +31,8 @@
rosbuild_add_executable(zbar_barcode_reader src/zbar_barcode_reader.c)
target_link_libraries(zbar_barcode_reader MagickWand MagickCore)
+rosbuild_add_executable(zbar_barcode_reader_cpp src/scan_image.cpp)
+target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++)
+
rosbuild_add_executable(zbar_barcode_reader_node src/zbar_barcode_reader_node.cpp)
target_link_libraries(zbar_barcode_reader_node Magick++)
\ No newline at end of file
Added: perception/zbar_barcode_reader_node/src/scan_image.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/scan_image.cpp (rev 0)
+++ perception/zbar_barcode_reader_node/src/scan_image.cpp 2012-01-27 18:36:55 UTC (rev 984)
@@ -0,0 +1,54 @@
+#include <iostream>
+#include <Magick++.h>
+#include <zbar.h>
+#define STR(s) #s
+
+using namespace std;
+using namespace zbar;
+
+int main (int argc, char **argv)
+{
+ if(argc < 2) return(1);
+
+#ifdef MAGICK_HOME
+ // http://www.imagemagick.org/Magick++/
+ // under Windows it is necessary to initialize the ImageMagick
+ // library prior to using the Magick++ library
+ Magick::InitializeMagick(MAGICK_HOME);
+#endif
+
+ // create a reader
+ ImageScanner scanner;
+
+ // configure the reader
+ scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
+
+ // obtain image data
+ Magick::Image magick(argv[1]); // read an image file
+ int width = magick.columns(); // extract dimensions
+ int height = magick.rows();
+ Magick::Blob blob; // extract the raw data
+ magick.modifyImage();
+ magick.write(&blob, "GRAY", 8);
+ const void *raw = blob.data();
+
+ // wrap image data
+ Image image(width, height, "Y800", raw, width * height);
+
+ // scan the image for barcodes
+ int n = scanner.scan(image);
+
+ // extract results
+ for(Image::SymbolIterator symbol = image.symbol_begin();
+ symbol != image.symbol_end();
+ ++symbol) {
+ // do something useful with results
+ cout << "decoded " << symbol->get_type_name()
+ << " symbol \"" << symbol->get_data() << '"' << endl;
+ }
+
+ // clean up
+ image.set_data(NULL, 0);
+
+ return(0);
+}
Property changes on: perception/zbar_barcode_reader_node/src/scan_image.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-01-30 20:53:15
|
Revision: 985
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=985&view=rev
Author: moesenle
Date: 2012-01-30 20:53:08 +0000 (Mon, 30 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:49:26 2012 +0100
commit 7d2243e92e66feb8b1f48eab599384708ffa3da7
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:48:26 2012 +0100
object recognition using barcoo working, major refactoring of the barcode_reader_node.zpp needed
commit 73c93f2f13c5445cfc3955773a323c5e98deada8
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:47:14 2012 +0100
examples for tinyxml and loading of images with curl and opencv
commit c358c7210ee1c53d032b34118fb84b15c35b9c68
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:59:21 2010 +0200
created a node for barcode reading,
input: image
output: type,value
exchanged c for c++ interface
tested
TODO:
find a n..... that will port to cop:-)
commit 0fd52914acf001cc75df60a84dffc0395a2e769b
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:24:21 2010 +0200
c++ implementation of zbar
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Added Paths:
-----------
perception/zbar_barcode_reader_node/src/curl_opencv.cpp
perception/zbar_barcode_reader_node/src/tinyxml.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-27 18:36:55 UTC (rev 984)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-30 20:53:08 UTC (rev 985)
@@ -32,7 +32,13 @@
target_link_libraries(zbar_barcode_reader MagickWand MagickCore)
rosbuild_add_executable(zbar_barcode_reader_cpp src/scan_image.cpp)
-target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++)
+target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++ curl)
rosbuild_add_executable(zbar_barcode_reader_node src/zbar_barcode_reader_node.cpp)
-target_link_libraries(zbar_barcode_reader_node Magick++)
\ No newline at end of file
+target_link_libraries(zbar_barcode_reader_node Magick++ curl)
+
+# rosbuild_add_executable(test_tinyxml src/tinyxml.cpp)
+# target_link_libraries(test_tinyxml tinyxml)
+
+# rosbuild_add_executable(curl_opencv src/curl_opencv.cpp)
+# target_link_libraries(curl_opencv curl)
Added: perception/zbar_barcode_reader_node/src/curl_opencv.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/curl_opencv.cpp (rev 0)
+++ perception/zbar_barcode_reader_node/src/curl_opencv.cpp 2012-01-30 20:53:08 UTC (rev 985)
@@ -0,0 +1,95 @@
+#include <stdio.h>
+#include <curl/curl.h>
+
+#include <cv.h>
+#include <highgui.h>
+using namespace cv;
+
+// *****************************************************************************
+
+struct memoryStruct {
+ char *memory;
+ size_t size;
+};
+
+static void* CURL_realloc(void *ptr, size_t size)
+{
+ /* There might be a realloc() out there that doesn't like reallocing
+ NULL pointers, so we take care of it here */
+ if(ptr)
+ return realloc(ptr, size);
+ else
+ return malloc(size);
+}
+
+size_t WriteMemoryCallback
+(void *ptr, size_t size, size_t nmemb, void *data)
+{
+ size_t realsize = size * nmemb;
+ struct memoryStruct *mem = (struct memoryStruct *)data;
+
+ mem->memory = (char *)
+ CURL_realloc(mem->memory, mem->size + realsize + 1);
+ if (mem->memory) {
+ memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ mem->size += realsize;
+ mem->memory[mem->size] = 0;
+ }
+ return realsize;
+}
+
+// *****************************************************************************
+
+int main(void)
+{
+ CURL *curl; // CURL objects
+ CURLcode res;
+ cv::Mat imgTmp; // image object
+ memoryStruct buffer; // memory buffer
+
+ curl = curl_easy_init(); // init CURL library object/structure
+
+ if(curl) {
+
+ // set up the write to memory buffer
+ // (buffer starts off empty)
+
+ buffer.memory = NULL;
+ buffer.size = 0;
+
+ // (N.B. check this URL still works in browser in case image has moved)
+
+ curl_easy_setopt(curl, CURLOPT_URL, "http://www.froodies.de/FroodiesImages/images/products/large/29278.jpg");
+ curl_easy_setopt(curl, CURLOPT_VERBOSE, 1); // tell us what is happening
+
+ // tell libcurl where to write the image (to a dynamic memory buffer)
+
+ curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
+ curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &buffer);
+
+ // 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)
+
+ namedWindow("Image from URL", CV_WINDOW_AUTOSIZE);
+ if (!(imgTmp.empty()))
+ {
+ imshow("Image from URL", imgTmp);
+ }
+ waitKey(0);
+
+
+ // always cleanup
+
+ curl_easy_cleanup(curl);
+ free(buffer.memory);
+
+ }
+ return 0;
+}
Property changes on: perception/zbar_barcode_reader_node/src/curl_opencv.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
Added: perception/zbar_barcode_reader_node/src/tinyxml.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/tinyxml.cpp (rev 0)
+++ perception/zbar_barcode_reader_node/src/tinyxml.cpp 2012-01-30 20:53:08 UTC (rev 985)
@@ -0,0 +1,146 @@
+// tutorial demo program
+//#include "stdafx.h"
+#include "tinyxml.h"
+
+// ----------------------------------------------------------------------
+// STDOUT dump and indenting utility functions
+// ----------------------------------------------------------------------
+const unsigned int NUM_INDENTS_PER_SPACE=2;
+
+const char * getIndent( unsigned int numIndents )
+{
+ static const char * pINDENT=" + ";
+ static const unsigned int LENGTH=strlen( pINDENT );
+ unsigned int n=numIndents*NUM_INDENTS_PER_SPACE;
+ if ( n > LENGTH ) n = LENGTH;
+
+ return &pINDENT[ LENGTH-n ];
+}
+
+// same as getIndent but no "+" at the end
+const char * getIndentAlt( unsigned int numIndents )
+{
+ static const char * pINDENT=" ";
+ static const unsigned int LENGTH=strlen( pINDENT );
+ unsigned int n=numIndents*NUM_INDENTS_PER_SPACE;
+ if ( n > LENGTH ) n = LENGTH;
+
+ return &pINDENT[ LENGTH-n ];
+}
+
+int dump_attribs_to_stdout(TiXmlElement* pElement, unsigned int indent)
+{
+ if ( !pElement ) return 0;
+
+ TiXmlAttribute* pAttrib=pElement->FirstAttribute();
+ int i=0;
+ int ival;
+ double dval;
+ const char* pIndent=getIndent(indent);
+ printf("\n");
+ while (pAttrib)
+ {
+ printf( "%s%s: value=[%s]", pIndent, pAttrib->Name(), pAttrib->Value());
+
+ if (pAttrib->QueryIntValue(&ival)==TIXML_SUCCESS) printf( " int=%d", ival);
+ if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
+ printf( "\n" );
+ i++;
+ pAttrib=pAttrib->Next();
+ }
+ return i;
+}
+
+void dump_to_stdout( TiXmlNode* pParent, unsigned int indent = 0 )
+{
+ if ( !pParent ) return;
+
+ TiXmlNode* pChild;
+ TiXmlText* pText;
+ int t = pParent->Type();
+ //printf( "%s", getIndent(indent));
+ int num;
+
+ //switch ( t )
+ //{
+ // case TiXmlNode::DOCUMENT:
+ // printf( "Document" );
+ // break;
+
+ //case TiXmlNode::ELEMENT:
+ //case "picture_high":
+ // if (pParent->Value() == "picture_high")
+ // {
+ std::string pstring = pParent->Value();
+ // std::cerr << "pstring: " << pstring << std::endl;
+ size_t found=pstring.rfind("picture_high");
+ if (found!=std::string::npos)
+ {
+ std::cerr << "First child: " << pParent->FirstChild()->Value() << std::endl;
+ }
+ // std::cerr << "picture_high: " << int(found) << std::endl;
+ // exit(0);
+ // }
+ // printf( "Element value [%s]", pParent->Value() );
+ // num=dump_attribs_to_stdout(pParent->ToElement(), indent+1);
+ // switch(num)
+ // {
+ // case 0: printf( " (No attributes)"); break;
+ // case 1: printf( "%s1 attribute", getIndentAlt(indent)); break;
+ // default: printf( "%s%d attributes", getIndentAlt(indent), num); break;
+ // }
+ // break;
+
+ // case TiXmlNode::COMMENT:
+ // printf( "Comment: [%s]", pParent->Value());
+ // break;
+
+ // case TiXmlNode::UNKNOWN:
+ // printf( "Unknown" );
+ // break;
+
+ // case TiXmlNode::TEXT:
+ // pText = pParent->ToText();
+ // printf( "Text: [%s]", pText->Value() );
+ // break;
+
+ // case TiXmlNode::DECLARATION:
+ // printf( "Declaration" );
+ // break;
+ // default:
+ // break;
+ //}
+ //printf( "\n" );
+ for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
+ {
+ dump_to_stdout( pChild, indent+1 );
+ }
+}
+
+// load the named file and dump its structure to STDOUT
+void dump_to_stdout(const char* pFilename)
+{
+ TiXmlDocument doc(pFilename);
+ bool loadOkay = doc.LoadFile();
+ if (loadOkay)
+ {
+ printf("\n%s:\n", pFilename);
+ dump_to_stdout( &doc ); // defined later in the tutorial
+ }
+ else
+ {
+ printf("Failed to load file \"%s\"\n", pFilename);
+ }
+}
+
+// ----------------------------------------------------------------------
+// main() for printing files named on the command line
+// ----------------------------------------------------------------------
+int main(int argc, char* argv[])
+{
+ for (int i=1; i<argc; i++)
+ {
+ dump_to_stdout(argv[i]);
+ }
+ return 0;
+}
Property changes on: perception/zbar_barcode_reader_node/src/tinyxml.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-27 18:36:55 UTC (rev 984)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-30 20:53:08 UTC (rev 985)
@@ -9,6 +9,9 @@
#include <string.h>
#include "std_msgs/String.h"
#include <sstream>
+#include "curl/curl.h"
+#include "tinyxml.h"
+#include <highgui.h>
//Magick++ lib
#include <Magick++.h>
@@ -18,8 +21,63 @@
using namespace std;
using namespace zbar;
+ static int writer(char *data, size_t size, size_t nmemb,
+ std::string *buffer)
+ {
+ // What we will return
+ int result = 0;
+
+ // Is there anything in the buffer?
+ if (buffer != NULL)
+ {
+ // Append the data to the buffer
+ buffer->append(data, size * nmemb);
+
+ // How much did we write?
+ result = size * nmemb;
+ }
+
+ return result;
+ }
+
+static void* CURL_realloc(void *ptr, size_t size)
+{
+ /* There might be a realloc() out there that doesn't like reallocing
+ NULL pointers, so we take care of it here */
+ if(ptr)
+ return realloc(ptr, size);
+ else
+ return malloc(size);
+}
+
+struct memoryStruct {
+ char *memory;
+ size_t size;
+};
+
+ size_t WriteMemoryCallback
+ (void *ptr, size_t size, size_t nmemb, void *data)
+ {
+ size_t realsize = size * nmemb;
+ struct memoryStruct *mem = (struct memoryStruct *)data;
+
+ mem->memory = (char *)
+ CURL_realloc(mem->memory, mem->size + realsize + 1);
+ if (mem->memory) {
+ memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ mem->size += realsize;
+ mem->memory[mem->size] = 0;
+ }
+ return realsize;
+ }
+
+
class BarcodeReaderNode {
+ // struct memoryStruct {
+ // char *memory;
+ // size_t size;
+ // };
public:
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
@@ -35,7 +93,186 @@
{
}
+ // void* CURL_realloc(void *ptr, size_t size)
+ // {
+ // /* There might be a realloc() out there that doesn't like reallocing
+ // NULL pointers, so we take care of it here */
+ // if(ptr)
+ // return realloc(ptr, size);
+ // else
+ // return malloc(size);
+ // }
+ // size_t WriteMemoryCallback
+ // (void *ptr, size_t size, size_t nmemb, void *data)
+ // {
+ // size_t realsize = size * nmemb;
+ // struct memoryStruct *mem = (struct memoryStruct *)data;
+
+ // mem->memory = (char *)
+ // CURL_realloc(mem->memory, mem->size + realsize + 1);
+ // if (mem->memory) {
+ // memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ // mem->size += realsize;
+ // mem->memory[mem->size] = 0;
+ // }
+ // return realsize;
+ // }
+ // This is the writer call back function used by curl
+ // int writer(char *data, size_t size, size_t nmemb,
+ // std::string *buffer)
+ // {
+ // // What we will return
+ // int result = 0;
+
+ // // Is there anything in the buffer?
+ // if (buffer != NULL)
+ // {
+ // // Append the data to the buffer
+ // buffer->append(data, size * nmemb);
+
+ // // How much did we write?
+ // result = size * nmemb;
+ // }
+
+ // return result;
+ // }
+ int getImage(std::string & image)
+ {
+ CURL *curl; // CURL objects
+ CURLcode res;
+ cv::Mat imgTmp; // image object
+ memoryStruct buffer; // memory buffer
+
+ curl = curl_easy_init(); // init CURL library object/structure
+
+ if(curl)
+ {
+ // set up the write to memory buffer
+ // (buffer starts off empty)
+ buffer.memory = NULL;
+ buffer.size = 0;
+
+ // (N.B. check this URL still works in browser in case image has moved)
+ curl_easy_setopt(curl, CURLOPT_URL, image.c_str());
+ curl_easy_setopt(curl, CURLOPT_VERBOSE, 1); // tell us what is happening
+
+ // tell libcurl where to write the image (to a dynamic memory buffer)
+
+ curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
+ curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &buffer);
+
+ // 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("Image from URL", imgTmp);
+ }
+ cv::waitKey(3);
+
+ // always cleanup
+
+ curl_easy_cleanup(curl);
+ free(buffer.memory);
+ }
+ return 1;
+ }
+
+ void findElement( TiXmlNode* pParent, std::string & picture)
+ {
+ 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");
+ 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;
+ }
+ }
+
+
+ int visBarcooPicture(std::string buffer)
+ {
+ // std::cerr << "buffer: " << buffer << std::endl;
+ TiXmlDocument doc;
+ doc.Parse((const char*)buffer.c_str(), 0, TIXML_ENCODING_UTF8);
+ doc.SaveFile ("text.xml");
+ std::string picture;
+ findElement (&doc, picture);
+ ROS_INFO_STREAM ("Picture link: " << picture);
+ if (picture == "")
+ return -1;
+ getImage (picture);
+ return 1;
+ }
+
+
+ int callBarcoo(std::string bar_code, std::string & buffer)
+ {
+ char errorBuffer[CURL_ERROR_SIZE];
+ // Our curl objects
+ CURL *curl;
+ 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";
+ ROS_INFO_STREAM("full_url: " << full_url);
+
+ if (curl)
+ {
+ // Now set up all of the curl options
+ curl_easy_setopt(curl, CURLOPT_ERRORBUFFER, errorBuffer);
+ curl_easy_setopt(curl, CURLOPT_URL, full_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)
+ {
+ ROS_INFO_STREAM ("CURLE_OK");
+ return 1;
+ }
+ else
+ {
+ ROS_INFO_STREAM ( "CURLE_NOT OK");
+ ROS_ERROR_STREAM ("Error: [" << result << "] - " << errorBuffer);
+ return -1;
+ }
+ }
+ return -1;
+ }
+
void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr)
{
@@ -43,7 +280,7 @@
ROS_INFO("[BarcodeReaderNode: ] Image received");
try
{
- cv_image = bridge_.imgMsgToCv(msg_ptr, "passthrough");
+ cv_image = bridge_.imgMsgToCv(msg_ptr, "mono8");
}
catch (sensor_msgs::CvBridgeException error)
{
@@ -71,6 +308,7 @@
int n = scanner.scan(image);
// extract results
+ std::stringstream ss;
for(Image::SymbolIterator symbol = image.symbol_begin();
symbol != image.symbol_end();
++symbol)
@@ -80,16 +318,30 @@
<< " barcode value " << symbol->get_data());
std_msgs::String msg;
- std::stringstream ss;
- ss << symbol->get_type_name() << "," << symbol->get_data();
+
+ //ss << symbol->get_type_name() << "," << symbol->get_data();
+ ss << symbol->get_data();
msg.data = ss.str();
barcode_pub_.publish(msg);
}
if (n == 0)
- ROS_WARN("Barcode not found");
+ {
+ ROS_WARN("Barcode not found");
+ return;
+ }
if (n < 0)
- ROS_ERROR("Error occured while finding barcode");
+ {
+ 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);
+ }
// clean up
image.set_data(NULL, 0);
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|
![http://www.froodies.de/FroodiesImages/images/products/large/29278.jpg");](http://www.froodies.de/FroodiesImages/images/products/large/29278.jpg");){kind=link}
|
From: <tum...@li...> - 2012-01-31 11:07:55
|
Revision: 986
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=986&view=rev
Author: moesenle
Date: 2012-01-31 11:07:48 +0000 (Tue, 31 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 12:07:05 2012 +0100
commit 05ca8af0ca8c6b8e96876789e20ddceac4db4ecc
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 12:06:34 2012 +0100
added system deps
commit ac04cfa29420148be13c98195eb1ea423b406457
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:53:49 2012 +0100
not needed filed anymore
commit e0ae46178d3e1ce6787ba2bb0d5924f142d4fc34
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:49:26 2012 +0100
public export
commit 694aac589283166617448c925b62fea7e506f343
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:48:26 2012 +0100
object recognition using barcoo working, major refactoring of the barcode_reader_node.zpp needed
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/manifest.xml
Added Paths:
-----------
perception/zbar_barcode_reader_node/rosdep.yaml
Removed Paths:
-------------
perception/zbar_barcode_reader_node/src/scan_image.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-30 20:53:08 UTC (rev 985)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-31 11:07:48 UTC (rev 986)
@@ -31,9 +31,6 @@
rosbuild_add_executable(zbar_barcode_reader src/zbar_barcode_reader.c)
target_link_libraries(zbar_barcode_reader MagickWand MagickCore)
-rosbuild_add_executable(zbar_barcode_reader_cpp src/scan_image.cpp)
-target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++ curl)
-
rosbuild_add_executable(zbar_barcode_reader_node src/zbar_barcode_reader_node.cpp)
target_link_libraries(zbar_barcode_reader_node Magick++ curl)
Modified: perception/zbar_barcode_reader_node/manifest.xml
===================================================================
--- perception/zbar_barcode_reader_node/manifest.xml 2012-01-30 20:53:08 UTC (rev 985)
+++ perception/zbar_barcode_reader_node/manifest.xml 2012-01-31 11:07:48 UTC (rev 986)
@@ -13,7 +13,8 @@
<depend package="cv_bridge"/>
<depend package="image_transport"/>
<depend package="sensor_msgs"/>
-
+ <rosdep name="libcurl"/>
+ <rosdep name="libtinyxml"/>
</package>
Added: perception/zbar_barcode_reader_node/rosdep.yaml
===================================================================
--- perception/zbar_barcode_reader_node/rosdep.yaml (rev 0)
+++ perception/zbar_barcode_reader_node/rosdep.yaml 2012-01-31 11:07:48 UTC (rev 986)
@@ -0,0 +1,7 @@
+libcurl:
+ ubuntu:
+ 11.04: libcurl3
+
+libtinyxml:
+ ubuntu:
+ 11.04: libtinyxml-dev
Deleted: perception/zbar_barcode_reader_node/src/scan_image.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/scan_image.cpp 2012-01-30 20:53:08 UTC (rev 985)
+++ perception/zbar_barcode_reader_node/src/scan_image.cpp 2012-01-31 11:07:48 UTC (rev 986)
@@ -1,54 +0,0 @@
-#include <iostream>
-#include <Magick++.h>
-#include <zbar.h>
-#define STR(s) #s
-
-using namespace std;
-using namespace zbar;
-
-int main (int argc, char **argv)
-{
- if(argc < 2) return(1);
-
-#ifdef MAGICK_HOME
- // http://www.imagemagick.org/Magick++/
- // under Windows it is necessary to initialize the ImageMagick
- // library prior to using the Magick++ library
- Magick::InitializeMagick(MAGICK_HOME);
-#endif
-
- // create a reader
- ImageScanner scanner;
-
- // configure the reader
- scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
-
- // obtain image data
- Magick::Image magick(argv[1]); // read an image file
- int width = magick.columns(); // extract dimensions
- int height = magick.rows();
- Magick::Blob blob; // extract the raw data
- magick.modifyImage();
- magick.write(&blob, "GRAY", 8);
- const void *raw = blob.data();
-
- // wrap image data
- Image image(width, height, "Y800", raw, width * height);
-
- // scan the image for barcodes
- int n = scanner.scan(image);
-
- // extract results
- for(Image::SymbolIterator symbol = image.symbol_begin();
- symbol != image.symbol_end();
- ++symbol) {
- // do something useful with results
- cout << "decoded " << symbol->get_type_name()
- << " symbol \"" << symbol->get_data() << '"' << endl;
- }
-
- // clean up
- image.set_data(NULL, 0);
-
- return(0);
-}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-01-31 16:56:49
|
Revision: 987
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=987&view=rev
Author: moesenle
Date: 2012-01-31 16:56:40 +0000 (Tue, 31 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:55:00 2012 +0100
commit 0b6c0c9cb2a8e0f40e1b195cc0ae1472185c591a
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:54:39 2012 +0100
got rid of static functions (thx Lorenz)
commit 4810db7739748ed8a5f4750d6a992fbaa4fb6a6e
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 13:04:23 2012 +0100
different default topic
commit e73893c803108e9e9dc500fa1e77667da40da120
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 12:07:05 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/launch/barcode_reader.launch
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 11:07:48 UTC (rev 986)
+++ perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-01-31 16:56:40 UTC (rev 987)
@@ -1,5 +1,5 @@
<launch>
<node pkg="zbar_barcode_reader_node" type="zbar_barcode_reader_node" name="barcode_reader_node" output="screen" respawn="true">
- <param name="input_image_topic" type="string" value="/image_topic_2" />
+ <param name="input_image_topic" type="string" value="/image_raw" />
</node>
</launch>
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 11:07:48 UTC (rev 986)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 16:56:40 UTC (rev 987)
@@ -21,64 +21,21 @@
using namespace std;
using namespace zbar;
- static int writer(char *data, size_t size, size_t nmemb,
- std::string *buffer)
- {
- // What we will return
- int result = 0;
-
- // Is there anything in the buffer?
- if (buffer != NULL)
- {
- // Append the data to the buffer
- buffer->append(data, size * nmemb);
-
- // How much did we write?
- result = size * nmemb;
- }
-
- return result;
- }
-
-static void* CURL_realloc(void *ptr, size_t size)
-{
- /* There might be a realloc() out there that doesn't like reallocing
- NULL pointers, so we take care of it here */
- if(ptr)
- return realloc(ptr, size);
- else
- return malloc(size);
-}
-
-struct memoryStruct {
- char *memory;
- size_t size;
-};
-
- size_t WriteMemoryCallback
- (void *ptr, size_t size, size_t nmemb, void *data)
- {
- size_t realsize = size * nmemb;
- struct memoryStruct *mem = (struct memoryStruct *)data;
-
- mem->memory = (char *)
- CURL_realloc(mem->memory, mem->size + realsize + 1);
- if (mem->memory) {
- memcpy(&(mem->memory[mem->size]), ptr, realsize);
- mem->size += realsize;
- mem->memory[mem->size] = 0;
- }
- return realsize;
- }
-
-
class BarcodeReaderNode {
- // struct memoryStruct {
- // char *memory;
- // size_t size;
- // };
public:
+ struct memoryStruct {
+ char *memory;
+ size_t size;
+ };
+
+ struct UserData {
+ memoryStruct *memory;
+ BarcodeReaderNode *self;
+ UserData(memoryStruct *memory, BarcodeReaderNode *self)
+ : memory(memory), self(self) {}
+ };
+
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
{
@@ -86,63 +43,70 @@
n_.param ("outout_barcode_topic", output_barcode_topic_, std::string("barcode"));
image_sub_ = it_.subscribe(
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
- barcode_pub_ = n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
+ barcode_pub_ =
+ n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
+ cv::namedWindow ("Barcoo img");
}
~BarcodeReaderNode()
{
-
+ cv::destroyAllWindows();
}
- // void* CURL_realloc(void *ptr, size_t size)
- // {
- // /* There might be a realloc() out there that doesn't like reallocing
- // NULL pointers, so we take care of it here */
- // if(ptr)
- // return realloc(ptr, size);
- // else
- // return malloc(size);
- // }
+ static void* CURL_realloc(void *ptr, size_t size)
+ {
+ /* There might be a realloc() out there that doesn't like reallocing
+ NULL pointers, so we take care of it here */
+ if(ptr)
+ return realloc(ptr, size);
+ else
+ return malloc(size);
+ }
- // size_t WriteMemoryCallback
- // (void *ptr, size_t size, size_t nmemb, void *data)
- // {
- // size_t realsize = size * nmemb;
- // struct memoryStruct *mem = (struct memoryStruct *)data;
+ static size_t WriteMemoryCallback
+ (void *ptr, size_t size, size_t nmemb, void *data)
+ {
+ UserData *userdata = reinterpret_cast<UserData *>(data);
+ struct memoryStruct *mem = userdata->memory;
+ BarcodeReaderNode *self = userdata->self;
+ size_t realsize = size * nmemb;
- // mem->memory = (char *)
- // CURL_realloc(mem->memory, mem->size + realsize + 1);
- // if (mem->memory) {
- // memcpy(&(mem->memory[mem->size]), ptr, realsize);
- // mem->size += realsize;
- // mem->memory[mem->size] = 0;
- // }
- // return realsize;
- // }
+ mem->memory = (char *)
+ CURL_realloc(mem->memory, mem->size + realsize + 1);
+ if (mem->memory) {
+ memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ mem->size += realsize;
+ mem->memory[mem->size] = 0;
+ }
+ return realsize;
+ }
+
// This is the writer call back function used by curl
- // int writer(char *data, size_t size, size_t nmemb,
- // std::string *buffer)
- // {
- // // What we will return
- // int result = 0;
-
- // // Is there anything in the buffer?
- // if (buffer != NULL)
- // {
- // // Append the data to the buffer
- // buffer->append(data, size * nmemb);
-
- // // How much did we write?
- // result = size * nmemb;
- // }
-
- // return result;
- // }
+ static int writer(char *data, size_t size, size_t nmemb,
+ std::string *buffer)
+ {
+ // What we will return
+ int result = 0;
+
+ // Is there anything in the buffer?
+ if (buffer != NULL)
+ {
+ // Append the data to the buffer
+ buffer->append(data, size * nmemb);
+
+ // How much did we write?
+ result = size * nmemb;
+ }
+
+ return result;
+ }
+
int getImage(std::string & image)
{
CURL *curl; // CURL objects
CURLcode res;
cv::Mat imgTmp; // image object
memoryStruct buffer; // memory buffer
+ UserData userdata(&buffer, this);
curl = curl_easy_init(); // init CURL library object/structure
@@ -159,8 +123,8 @@
// tell libcurl where to write the image (to a dynamic memory buffer)
- curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
- curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &buffer);
+ curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::WriteMemoryCallback);
+ curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &userdata);
// get the image from the specified URL
res = curl_easy_perform(curl);
@@ -171,7 +135,7 @@
if (!(imgTmp.empty()))
{
- imshow("Image from URL", imgTmp);
+ imshow("Barcoo img", imgTmp);
}
cv::waitKey(3);
@@ -247,8 +211,8 @@
curl_easy_setopt(curl, CURLOPT_URL, full_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_WRITEFUNCTION, &BarcodeReaderNode::writer);
+ // curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writer);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &buffer);
// Attempt to retrieve the remote page
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-05 18:32:45
|
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:
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-14 13:28:08
|
Revision: 993
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=993&view=rev
Author: moesenle
Date: 2012-02-14 13:27:57 +0000 (Tue, 14 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Feb 14 14:27:37 2012 +0100
commit 87397cf1d1b5ccd96507252dcc26e0379750e2ba
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Feb 14 14:27:08 2012 +0100
server side of service for trigering the barcode recognition from a QT client
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/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-13 09:08:17 UTC (rev 992)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-14 13:27:57 UTC (rev 993)
@@ -19,7 +19,7 @@
#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
-#rosbuild_gensrv()
+rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-13 09:08:17 UTC (rev 992)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-14 13:27:57 UTC (rev 993)
@@ -12,6 +12,7 @@
#include "curl/curl.h"
#include "tinyxml.h"
#include <highgui.h>
+#include <zbar_barcode_reader_node/enable_barcode_reader.h>
//Magick++ lib
#include <Magick++.h>
@@ -29,6 +30,7 @@
std:: string tag3_;// = "picture_low";
std:: string pattern_;// = "<meta property=\"og:image\" content=\"";
TiXmlDocument doc;
+ int enable_barcode_reader_;
public:
struct memoryStruct {
@@ -64,12 +66,22 @@
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);
}
~BarcodeReaderNode()
{
cv::destroyAllWindows();
}
+
+ 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;
+ }
+
static void* CURL_realloc(void *ptr, size_t size)
{
/* There might be a realloc() out there that doesn't like reallocing
@@ -79,7 +91,7 @@
else
return malloc(size);
}
-
+
static size_t WriteMemoryCallback
(void *ptr, size_t size, size_t nmemb, void *data)
{
@@ -290,10 +302,12 @@
}
return -1;
}
-
+
void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr)
{
-
+
+ if(!enable_barcode_reader_)
+ return;
IplImage *cv_image = NULL;
ROS_INFO("[BarcodeReaderNode: ] Image received");
try
@@ -417,6 +431,7 @@
ros::Publisher barcode_pub_;
sensor_msgs::CvBridge bridge_;
std::string input_image_topic_, output_barcode_topic_;
+ ros::ServiceServer service_;
};
int main(int argc, char** argv)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-18 21:16:21
|
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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