TextLocator.cpp

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/*********************************************************************
 The MIT License (MIT)

 Copyright (c) <2013> <Vojtech Novak>

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 of this software and associated documentation files (the "Software"), to deal
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#include <boost/smart_ptr/shared_ptr.hpp>
#include <ros/console.h>
#include <ros/node_handle.h>
#include <ros/subscriber.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>
#include <tesseract/publictypes.h>
#include <iostream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>

#include "text_locator/TextLocator.hpp"
#include "text_locator/utils.hpp"

//for publisher
#include "text_locator/TextLocation.h"
#include <tf/transform_datatypes.h>
#include <stdlib.h>

using namespace sensor_msgs;

namespace ros_text_locator {

TextLocator::TextLocator(ros::NodeHandle &handle,
                tesseract::PageSegMode pgSegMode, std::string lang,
                std::vector<ccv_swt_param_t> params, bool enableRecognition,
                bool paramDebug, bool enablePcl) :
                rec(TRecognizer(pgSegMode, lang)), detector(TDetector(params)), paramDebugMode(
                                paramDebug), recognitionEnabled(enableRecognition), newdata(
                                false), nodehandler(handle), pclEnabled(enablePcl) {

        init();
//      nodehandler = handle;
//      detector = TDetector(params);
//      rec = TRecognizer(pgSegMode, lang);
//      paramDebugMode = paramDebug;
//      recognitionEnabled = enableRecognition;
//      pclEnabled=enablePcl;
//      locked = false;
}

void TextLocator::init() {
        using namespace ros::param;

        int dm, im;
        param<int>("/camera/driver/image_mode", im, -1);
        param<int>("/camera/driver/depth_mode", dm, -1);
        if (dm == -1 || im == -1) {
                ROS_ERROR(
                                "unable to load sensor resolutions from /camera/driver/depth_mode and/or /camera/driver/image_mode");
                ros::shutdown();
        }
        std::pair<int, int> rgbRes = openniModeToRes(im);
        std::pair<int, int> irRes = openniModeToRes(dm);
        if (rgbRes.first == -1 || irRes.first == -1) {
                ROS_ERROR(
                                "unknown openni mode encountered. unable to convert the mode to resolution.");
                ros::shutdown();
        }

        rgb2IrX = ((float) irRes.first) / ((float) rgbRes.first);
        rgb2IrY = ((float) irRes.second) / ((float) rgbRes.second);
}

void TextLocator::run() {
        sub = nodehandler.subscribe("/camera/rgb/image_rect", 8,
                        &TextLocator::monoCallback, this);
        if (pclEnabled) {
                sub2 = nodehandler.subscribe<pcl::PointCloud<pcl::PointXYZRGB> >(
                                "/camera/depth_registered/points", 8,
                                &TextLocator::depthCallback, this);
        }

        pub = nodehandler.advertise<text_locator::TextLocation>(
                        "text_locator_topic", 8);
        if (!pub) {
                ROS_ERROR("publisher of text_locator_topic cannot be initialized");
                ros::shutdown();
        }
        if (paramDebugMode) {
                std::string h = getHome() + "/text_locator.jpg";
                ROS_INFO(
                                "debug image will be written to %s. use it to fine-tune the detections parameters and then turn this feature off.", h.c_str());
        }
}

void TextLocator::monoCallback(const sensor_msgs::ImageConstPtr& image) {
        try {
                cv_ptr = cv_bridge::toCvShare(image, image_encodings::MONO8);
        } catch (cv_bridge::Exception& e) {
                ROS_ERROR("cv_bridge exception: %s", e.what());
                return;
        }
        newdata = true;

        detector.detect(cv_ptr->image, text2d);
        if (paramDebugMode) {
                saveDbgImg(image);
        }
        if (recognitionEnabled) {
                rec.recognize(cv_ptr->image, text2d);
        }
        if (!pclEnabled) {
                pcl::PointXYZRGB p; //dummy point
                for (int i = 0; i < text2d.size(); i++) {
                        publish(p, p, text2d.at(i).text);
                }
        }
}

void TextLocator::depthCallback(
                const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& depth) {
        if (!newdata) {
                return;
        }
        int y, x, y2, x2;
        pcl::PointXYZRGB p1, p2;
        if (text2d.size() == 0) {
                //ROS_INFO("nothing detected");
        }
        // IF recognition disabled then broadcast the detected textlike region coordinates in rgb image?
        for (int i = 0; i < text2d.size(); i++) {
                // coordinate translation for different ir and rgb resolutions
                y = rgbToIrY(text2d.at(i).y);
                x = rgbToIrX(text2d.at(i).x);
                y2 = rgbToIrY(text2d.at(i).y2);
                x2 = rgbToIrX(text2d.at(i).x2);

                p1 = depth->points[(y * depth->width) + x];
                p2 = depth->points[(y2 * depth->width) + x2];
                //cout << "kinect: " << text2d.at(i).text << endl;
                //cout << "kinect: " << p1.x << " " << p1.y << " " << p1.z << "\t";
                //cout << "kinect: " << p2.x << " " << p2.y << " " << p2.z << endl;
                publish(p1, p2, text2d.at(i).text);
        }
        newdata = false;
}

int TextLocator::rgbToIrX(int rgb) {
        return (int) (rgb2IrX * ((float) (rgb)));
}

int TextLocator::rgbToIrY(int rgb) {
        return (int) (rgb2IrY * ((float) (rgb)));
}

void TextLocator::publish(pcl::PointXYZRGB &p1, pcl::PointXYZRGB &p2,
                std::string txt) {
        text_locator::TextLocation msg;
        msg.header.stamp = ros::Time::now();
        msg.header.frame_id = "/camera/depth_registered/points";
        geometry_msgs::Point upLeft;
        upLeft.x = p1.x;
        upLeft.y = p1.y;
        upLeft.z = p1.z;
        msg.p1 = upLeft;

        geometry_msgs::Point lowRight;
        lowRight.x = p2.x;
        lowRight.y = p2.y;
        lowRight.z = p2.z;

        msg.p2 = lowRight;
        msg.text = txt;
        pub.publish(msg);
}

void TextLocator::saveDbgImg(const sensor_msgs::ImageConstPtr& image) {
        cv::Mat m;
        try {
                m = cv_bridge::toCvShare(image, image_encodings::BGR8)->image;
        } catch (cv_bridge::Exception& e) {
                ROS_ERROR("cv_bridge exception: %s", e.what());
                return;
        }
        cv::Point p1, p2;
        //drawing detected areas
        for (int i = 0; i < text2d.size(); i++) {
                p1.x = text2d.at(i).x;
                p1.y = text2d.at(i).y;
                p2.x = text2d.at(i).x2;
                p2.y = text2d.at(i).y2;
                cv::rectangle(m, p1, p2, cv::Scalar(0, 0, 255));
        }
        //rectangle in the center
        p1.x = m.cols / 2;
        p1.y = m.rows / 2;
        p2.x = m.cols / 2 + 1;
        p2.y = m.rows / 2 + 1;
        cv::rectangle(m, p1, p2, cv::Scalar(0, 0, 255));
        std::string h = getHome() + "/text_locator.jpg";
        cv::imwrite(h, m);
}

} /* namespace manipulator */