barcode_reader_nodelet.h

Go to the documentation of this file.

 
#ifndef ZBAR_ROS_BARCODE_READER_NODELET_H
#define ZBAR_ROS_BARCODE_READER_NODELET_H
 
#include <mutex>
#include <string>
 
#include "boost/unordered_map.hpp"
#include "cv_bridge/cv_bridge.h"
#include "nodelet/nodelet.h"
#include "opencv2/opencv.hpp"
#include "ros/ros.h"
#include "zbar.h"
 
namespace zbar_ros
{
 
class BarcodeReaderNodelet : public nodelet::Nodelet
{
public:
  BarcodeReaderNodelet();
 
private:
  virtual void onInit();
  void connectCb();
  void disconnectCb();
  void imageCb(const sensor_msgs::ImageConstPtr &image);
  void cleanCb();
 
  ros::NodeHandle nh_, private_nh_;
  ros::Subscriber camera_sub_;
  ros::Publisher barcode_pub_;
  ros::Timer clean_timer_;
  zbar::ImageScanner scanner_;
 
  std::mutex memory_mutex_;
  boost::unordered_map<std::string, ros::Time> barcode_memory_;
 
  double throttle_;
};
 
}  // namespace zbar_ros
 
#endif  // ZBAR_ROS_BARCODE_READER_NODELET_H