Skip to content

Commit

Permalink
Add Polygon Info obtained from zbar (#11)
Browse files Browse the repository at this point in the history
* add polygon info, and publish with Symbol.msg format

Signed-off-by: ijnek <kenjibrameld@gmail.com>

* Update barcode_reader_node.cpp

Fix print formatting

Signed-off-by: ijnek <kenjibrameld@gmail.com>

* add code to deprecate barcode topic

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>

* update warning message

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>

* remove .msg

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>

* bring non-deprecated code before deprecated code

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>

* use vision_msgs and not geometry_msgs

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>

---------

Signed-off-by: ijnek <kenjibrameld@gmail.com>
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
  • Loading branch information
ijnek authored Apr 20, 2024
1 parent bfb27f4 commit 2df8b1b
Show file tree
Hide file tree
Showing 9 changed files with 108 additions and 10 deletions.
3 changes: 2 additions & 1 deletion README.md
Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,8 @@ Subscriptions:
* `image` (`sensor_msgs/msg/Image`)

Publisher:
* `barcode` (`std_msgs/msg/String`)
* `symbol` (`zbar_ros_interfaces/msg/Symbol`)
* `barcode` (`std_msgs/msg/String`) - **DEPRECATED**


## Debugging the barcode_reader node
Expand Down
5 changes: 3 additions & 2 deletions CMakeLists.txt → zbar_ros/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(zbar_ros_interfaces REQUIRED)
find_package(cv_bridge REQUIRED)

# Include header files
Expand All @@ -32,7 +32,8 @@ ament_target_dependencies(barcode_reader_node
rclcpp
sensor_msgs
std_msgs
cv_bridge)
cv_bridge
zbar_ros_interfaces)
target_link_libraries(barcode_reader_node zbar)

# Build executable
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#include "./zbar.h"
#include "sensor_msgs/msg/image.hpp"
#include "std_msgs/msg/string.hpp"
#include "zbar_ros_interfaces/msg/symbol.hpp"

namespace zbar_ros
{
Expand All @@ -52,7 +53,8 @@ class BarcodeReaderNode : public rclcpp::Node
void cleanCb();

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_sub_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_;
rclcpp::Publisher<zbar_ros_interfaces::msg::Symbol>::SharedPtr symbol_pub_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_; // DEPRECATED
zbar::ImageScanner scanner_;

rclcpp::TimerBase::SharedPtr clean_timer_;
Expand Down
1 change: 1 addition & 0 deletions package.xml → zbar_ros/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<depend>cv_bridge</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<depend>zbar_ros_interfaces</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down
File renamed without changes.
Original file line number Diff line number Diff line change
Expand Up @@ -44,10 +44,10 @@ BarcodeReaderNode::BarcodeReaderNode()
{
scanner_.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);


camera_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
"image", 10, std::bind(&BarcodeReaderNode::imageCb, this, std::placeholders::_1));

symbol_pub_ = this->create_publisher<zbar_ros_interfaces::msg::Symbol>("symbol", 10);
barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);

throttle_ = this->declare_parameter<double>("throttle_repeated_barcodes", 0.0);
Expand All @@ -74,14 +74,29 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
auto it_end = zbar_image.symbol_end();
if (it_start != it_end) {
// If there are barcodes in the image, iterate over all barcode readings from image
for (zbar::Image::SymbolIterator symbol = it_start; symbol != it_end; ++symbol) {
std::string barcode = symbol->get_data();
RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", barcode.c_str());
for (zbar::Image::SymbolIterator symbol_it = it_start; symbol_it != it_end; ++symbol_it) {
zbar_ros_interfaces::msg::Symbol symbol;
symbol.data = symbol_it->get_data();
RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", symbol.data.c_str());

RCLCPP_DEBUG(
get_logger(), "Polygon around barcode has %d points", symbol_it->get_location_size());
for (zbar::Symbol::PointIterator point_it = symbol_it->point_begin();
point_it != symbol_it->point_end();
++point_it)
{
vision_msgs::msg::Point2D point;
point.x = (*point_it).x;
point.y = (*point_it).y;
RCLCPP_DEBUG(get_logger(), " Point: %f, %f", point.x, point.y);
symbol.points.push_back(point);
}

// verify if repeated barcode throttling is enabled
if (throttle_ > 0.0) {
const std::lock_guard<std::mutex> lock(memory_mutex_);

const std::string & barcode = symbol.data;
// check if barcode has been recorded as seen, and skip detection
if (barcode_memory_.count(barcode) > 0) {
// check if time reached to forget barcode
Expand All @@ -100,16 +115,32 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
now() + rclcpp::Duration(std::chrono::duration<double>(throttle_))));
}

// publish barcode
// publish symbol
RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
symbol_pub_->publish(symbol);

// publish on deprecated barcode topic
RCLCPP_DEBUG(get_logger(), "Publishing data as string");
std_msgs::msg::String barcode_string;
barcode_string.data = barcode;
barcode_string.data = symbol.data;
barcode_pub_->publish(barcode_string);
}
} else {
RCLCPP_DEBUG(get_logger(), "No barcode detected in image");
}

// Warn if there are subscriptions on barcode topic, because it's deprecated.
static bool alreadyWarnedDeprecation = false;
if (!alreadyWarnedDeprecation && count_subscribers("barcode") > 0) {
alreadyWarnedDeprecation = true;
RCLCPP_WARN(
get_logger(),
"A subscription was detected on the deprecated topic 'barcode'. Please update the node "
"that is subscribing to use the new topic 'symbol' with type "
"'zbar_ros_interfaces::msg::Symbol' instead. The 'barcode' topic will be removed "
"in the next distribution.");
}

zbar_image.set_data(NULL, 0);
}

Expand Down
36 changes: 36 additions & 0 deletions zbar_ros_interfaces/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -0,0 +1,36 @@
cmake_minimum_required(VERSION 3.5)
project(zbar_ros_interfaces)

# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(vision_msgs REQUIRED)

# generate interfaces
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/Symbol.msg"
DEPENDENCIES vision_msgs
)

ament_export_dependencies(rosidl_default_runtime)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()
2 changes: 2 additions & 0 deletions zbar_ros_interfaces/msg/Symbol.msg
Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
string data
vision_msgs/Point2D[] points
24 changes: 24 additions & 0 deletions zbar_ros_interfaces/package.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,24 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>zbar_ros_interfaces</name>
<version>0.0.0</version>
<description>Package containing interfaces for zbar_ros to use to publish results</description>
<maintainer email="kenjibrameld@gmail.com">ijnek</maintainer>
<license>BSD</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>vision_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>

0 comments on commit 2df8b1b

Please sign in to comment.