TextLocator.hpp

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        The MIT License (MIT)

        Copyright (c) <2013> <Vojtech Novak>

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#ifndef TEXT_LOCATOR_TEXTLOCATOR_HPP_
#define TEXT_LOCATOR_TEXTLOCATOR_HPP_
//#include <sensor_msgs/PointCloud.h>
#include <pcl-1.6/pcl/point_cloud.h>
#include <pcl-1.6/pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <boost/thread/locks.hpp>
#include <boost/thread/pthread/mutex.hpp>
#include "TRecognizer.hpp"
#include "TDetector.hpp"

namespace ros_text_locator {

class TextLocator {
private:
        TRecognizer rec;
        TDetector detector;
        const bool paramDebugMode;
        const bool recognitionEnabled;
        volatile bool newdata;
        ros::NodeHandle& nodehandler;
        const bool pclEnabled;

        float rgb2IrX;
        float rgb2IrY;
        std::vector<Text2D> text2d;
        ros::Publisher pub;
        ros::Subscriber sub;
        ros::Subscriber sub2;
        cv_bridge::CvImageConstPtr cv_ptr;

        void publish(pcl::PointXYZRGB &p1, pcl::PointXYZRGB &p2, std::string txt);
        void saveDbgImg(const sensor_msgs::ImageConstPtr& image);
        void monoCallback(const sensor_msgs::ImageConstPtr& image);
        void depthCallback(
                        const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& depth);
        int rgbToIrX(int rgb);
        int rgbToIrY(int rgb);
        void init();

public:
        TextLocator();
        TextLocator(ros::NodeHandle &handle,
                        tesseract::PageSegMode pgSegMode, std::string lang,
                        std::vector<ccv_swt_param_t> params, const bool enableRecognition,
                        const bool paramDebug, const bool enablePcl);
        void run();

        bool isRecognitionEnabled() const {
                return recognitionEnabled;
        }

        bool isPclEnabled() const {
                        return pclEnabled;
                }

        TDetector& getDetector() {
                return detector;
        }

        TRecognizer& getRecognizer() {
                return rec;
        }
};

} /* namespace ros_text_locator */
#endif /* TEXT_LOCATOR_TEXTLOCATOR_HPP_ */