zbar_image_reader_client.cpp

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/*
 * zbar_image_reader.cpp
 *
 *  Created on: Jun 12, 2012
 *      Author: Nacer Khalil
 */
#include <ros/ros.h>
#include <ros/node_handle.h>
#include "sensor_msgs/Image.h"
#include "image_transport/image_transport.h"
#include "cv_bridge/CvBridge.h"
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <string.h>
#include "std_msgs/String.h"
#include <zbar.h>
#include <Magick++.h>
#include "comp_barcoo/send_barcode.h"


using namespace std;
using namespace zbar;
class zbar_image_reader
{
        protected:
        ros::NodeHandle n_;
        image_transport::ImageTransport it_;
        ros::Publisher barcode_pub_;
        ros::ServiceClient client;
        comp_barcoo::send_barcode srv;
        public:
        zbar_image_reader(ros::NodeHandle &n,string img_path, int toKnowrob): n_(n), it_(n_)
        {
                cv::Mat image = cv::imread(img_path,0);
                client = n.serviceClient<comp_barcoo::send_barcode>("/send_barcode");

                extract_publish_barcode(image, toKnowrob);
        }

        ~zbar_image_reader() {
                // TODO Auto-generated destructor stub
        }

        void extract_publish_barcode(cv::Mat img,int to_knowrob)
        {
                // create a reader
                ImageScanner scanner;

                // configure the reader
                scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);

                int width = img.cols;   // extract dimensions
                int height = img.rows;

                // obtain image data
                Magick::Blob blob(img.ptr(0), width * height);

                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
                std::stringstream ss;
                for( Image::SymbolIterator symbol = image.symbol_begin(); symbol != image.symbol_end(); ++symbol )
                {
                  // do something useful with results
                  ROS_INFO_STREAM("Publishing: barcode type: " << symbol->get_type_name() << " barcode value " << symbol->get_data());

                  std_msgs::String msg;

                  ss << symbol->get_data();
                  srv.request.barcode.data = ss.str();
                  srv.request.knowrob = to_knowrob;
                  if (client.call(srv))
                  {
                          std::cout << "received: " << srv.response.recieved << "\n";
                  }
                }
                if (n == 0)
                {
                        ROS_WARN("Barcode not found");
                        return;
                }

                if (n < 0)
                {
                        ROS_ERROR("Error occured while finding barcode");
                        return;
                }

        }
};

int main(int argc, char** argv)
{
  ros::init(argc, argv, "barcode_image_node");
  ros::AsyncSpinner spinner(1); // Use 4 threads
  spinner.start();
  ros::NodeHandle n("~");
  zbar_image_reader reader(n,argv[1],atoi(argv[2]));
  ros::spinOnce();

  return 0;
}