QRCodeDetectionNode.hpp

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#ifndef PARAM_IDENT_NODE_HPP_
#define PARAM_IDENT_NODE_HPP_
 
#include <vector>
#include <string>
#include <opencv2/core.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <std_msgs/msg/bool.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <cv_bridge/cv_bridge.h>
 
#include <galaxis/GalaxisNode.hpp>
#include <galaxis/messages.hpp>
 
 
class QRCodeDetectionNode : public GalaxisNode {
private:
  bool m_qrCodeVisible = false;
  cv::QRCodeDetector m_detector;
  cv_bridge::CvImage m_imgBridge;
 
  std::string m_settingsJsonFilename;
 
  // ros2
  int m_publisherSeqNumber = 0;
  rclcpp::Publisher<QRCodeDetectType>::SharedPtr m_qrCodeDetectionPubSPtr;
  // rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr m_debugImgPublisher;
  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr m_imgSubscriber;
 
  int m_foundQRCount = 0;
  int m_foundQRCountForSendingMessage = 10;
 
  bool m_qrCodeFoundSometime = false;
 
public:
  QRCodeDetectionNode();
 
  void test_detection_loop(std::string path);
  void  onImgCallback(const sensor_msgs::msg::Image::SharedPtr p_ImgMsg);
 
private:
  bool checkBoundingBox(cv::Mat &bbox, cv::Mat &image);
  void drawBox(cv::Mat &im, cv::Mat &bbox);
  void publishQR(rclcpp::Time stamp, bool detected);
 
  void publishImage(cv::Mat &image);
};
 
#endif //PARAM_IDENT_NODE_HPP_