zbargui.cpp

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#include "zbargui.h"
#include "sensor_msgs/Image.h"
#include "cv_bridge/CvBridge.h"
#include <ros/ros.h>
#include <opencv/highgui.h>
#include "CQTImageConvertor.h"
#include <zbar_barcode_reader_node/enable_barcode_reader.h>

zbarGui::zbarGui(QWidget *parent) :
    QMainWindow(parent)
{
    setupUi(this);
    uvc_sub = n_.subscribe("/image_raw", 1, &zbarGui::cameraDisplay, this);
    connect( pushButton, SIGNAL( clicked() ), this, SLOT( doStart() ));
    connect( pushButton_2, SIGNAL( clicked() ), this, SLOT( doQuit() ));

    connect(this, SIGNAL( SIG_updateImage(const IplImage*) ), this, SLOT( SLT_updateImage(const IplImage*) ) );
    connect(this, SIGNAL( SIG_updateImage2(const IplImage*) ), this, SLOT( SLT_updateImage2(const IplImage*) ) );
     client = n_.serviceClient<zbar_barcode_reader_node::enable_barcode_reader>("/barcode_reader_node/enable_barcode_reader_service");
}

zbarGui::~zbarGui()
{

}

void zbarGui::doStart()
{

          zbar_barcode_reader_node::enable_barcode_reader srv;
          srv.request.enable = 1;

          if (client.call(srv))
          {
                  product_name->setText(QApplication::translate("zbarGui",srv.response.title.data.c_str() , 0, QApplication::UnicodeUTF8));
                  product_producer->setText(QApplication::translate("zbarGui",srv.response.subtitle.data.c_str() , 0, QApplication::UnicodeUTF8));
                  product_category->setText(QApplication::translate("zbarGui",srv.response.category_key.data.c_str() , 0, QApplication::UnicodeUTF8));
                  IplImage* cv_image = NULL;
                            try
                            {
                                  sensor_msgs::ImageConstPtr img_msg_ptr(new sensor_msgs::Image(srv.response.image_msg));
                                  cv_image = bridge_.imgMsgToCv(img_msg_ptr, "passthrough");

                            }
                            catch (sensor_msgs::CvBridgeException error)
                            {
                                  ROS_ERROR("error");
                            }

                            emit SIG_updateImage2(cv_image);
          }
          else
          {
            ROS_ERROR("Failed to call service ");
            return;
          }
}


void zbarGui::doQuit()
{
    exit(0);
}

void zbarGui::cameraDisplay(const sensor_msgs::ImageConstPtr& msg_ptr)
{
        IplImage* cv_image = NULL;
        try
        {
                cv_image = bridge_.imgMsgToCv(msg_ptr, "mono8");
        }
        catch (sensor_msgs::CvBridgeException error)
        {
                ROS_ERROR("error");
        }

        emit SIG_updateImage(cv_image);
}

void zbarGui::SLT_updateImage(const IplImage* pIplImage)
{
        QImage *qimg = new QImage(pIplImage->width, pIplImage->height, QImage::Format_RGB32);

        CQTImageConvertor::IplImage2QImage(pIplImage, qimg);

        label->setPixmap(QPixmap::fromImage(*qimg));

        delete qimg;

        label->show();
}

void zbarGui::SLT_updateImage2(const IplImage* pIplImage)
{
        QImage *qimg = new QImage(pIplImage->width, pIplImage->height, QImage::Format_RGB32);

        CQTImageConvertor::IplImage2QImage(pIplImage, qimg);

        //QPixmap q = QPixmap::fromImage(*qimg);
        //q = q.scaled ( 251, 271, Qt::IgnoreAspectRatio, Qt::FastTransformation );
        std::cerr << "you are hereee\n";

        label_2->setPixmap((QPixmap::fromImage(*qimg)).scaled ( 251, 271, Qt::IgnoreAspectRatio, Qt::FastTransformation ));
        std::cerr << "nowwwww\n";
        delete qimg;

        label_2->show();
}