QRCodeDetectionNode Class Reference

#include <QRCodeDetectionNode.hpp>

Inheritance diagram for QRCodeDetectionNode:

Collaboration diagram for QRCodeDetectionNode:

Public Member Functions
	QRCodeDetectionNode ()
void	test_detection_loop (std::string path)
void	onImgCallback (const sensor_msgs::msg::Image::SharedPtr p_ImgMsg)

Private Member Functions
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)

Private Attributes
bool	m_qrCodeVisible = false
cv::QRCodeDetector	m_detector
cv_bridge::CvImage	m_imgBridge
std::string	m_settingsJsonFilename
int	m_publisherSeqNumber = 0
rclcpp::Publisher< QRCodeDetectType >::SharedPtr	m_qrCodeDetectionPubSPtr
rclcpp::Subscription< sensor_msgs::msg::Image >::SharedPtr	m_imgSubscriber
int	m_foundQRCount = 0
int	m_foundQRCountForSendingMessage = 10
bool	m_qrCodeFoundSometime = false

Additional Inherited Members
Protected Member Functions inherited from GalaxisNode
	GalaxisNode ()=delete
	GalaxisNode (std::string p_name, unsigned int p_heartbeatTimePeriod)
	GalaxisNode (std::string p_name)
template<typename MsgSPtr >
void	tickSub (std::map< galaxis::serviceStates::State, std::function< void(const MsgSPtr)>> const *p_functionMapPtr, MsgSPtr const p_message)
template<typename... Args>
void	tickPub (std::map< galaxis::serviceStates::State, std::function< void(Args...)>> const *p_functionMapPtr, Args... p_args)
void	register_callback (std::function< void(galaxis::serviceStates::State)> p_function)
void	service_state_callback (ServiceStateType::SharedPtr const p_msgSPtr)
galaxis::serviceStates::State	get_current_service_state () const
void	enable_parameters (std::function< rcl_interfaces::msg::SetParametersResult(const std::vector< rclcpp::Parameter > &)> callbackFunc)
void	create_parameters (std::shared_ptr< json > configJsonSPtr)
json const &	get_global_settings ()

Detailed Description

Definition at line 17 of file QRCodeDetectionNode.hpp.

Constructor & Destructor Documentation

QRCodeDetectionNode()

QRCodeDetectionNode::QRCodeDetectionNode

(

)

Definition at line 33 of file QRCodeDetectionNode.cpp.

                                         : GalaxisNode("QRCodeDetection") {
  this->m_detector = cv::QRCodeDetector();
 
  galaxis::ros::create_publisher(this, m_qrCodeDetectionPubSPtr);
  
  auto qosReliable = galaxis::ros::get_qos_profile(galaxis::ros::QoS_Profile_t::QOS_RELIABLE);
  // rclcpp::QoS qosBestEffort = galaxis::ros::get_qos_profile(galaxis::ros::QoS_Profile_t::QOS_BEST_EFFORT);
  m_imgSubscriber = this->create_subscription<sensor_msgs::msg::Image>(
    galaxis::ros::TOPIC_CAMERA_RAW,
    qosReliable,
    std::bind(&QRCodeDetectionNode::onImgCallback, this, std::placeholders::_1));
  // m_debugImgPublisher = this->create_publisher<sensor_msgs::msg::Image>("/galaxis/qrcodedetection/debug/img", qosBestEffort);
 
  // std::string test_path = "./nodes/QRCodeDetectorNode/test_video.mp4";
  // std::thread(&QRCodeDetectionNode::test_detection_loop, this, test_path).detach(); 
}

References m_detector, m_imgSubscriber, m_qrCodeDetectionPubSPtr, and onImgCallback().

Here is the call graph for this function:

Member Function Documentation

checkBoundingBox()

bool QRCodeDetectionNode::checkBoundingBox ( cv::Mat &  bbox, cv::Mat &  image  )

private

Definition at line 143 of file QRCodeDetectionNode.cpp.

                                                                   {
  // allowed deviation
  float percentage = 0.3;
  cv::Point2i topLeft = cv::Point2i(bbox.at<float>(0,0),bbox.at<float>(0,1));
  cv::Point2i topRight = cv::Point2i(bbox.at<float>(1,0),bbox.at<float>(1,1));
  cv::Point2i botRight = cv::Point2i(bbox.at<float>(2,0),bbox.at<float>(2,1));
  cv::Point2i botLeft = cv::Point2i(bbox.at<float>(3,0),bbox.at<float>(3,1));
  // std::cout << "Difference: " << std::abs(topLeft.y - topRight.y) << " Target: " << percentage * image.rows << std::endl;
  // std::cout << "Difference: " << std::abs(topRight.x - botRight.x) << " Target: " << percentage * image.cols << std::endl;
  // std::cout << "Difference: " << std::abs(botRight.y - botLeft.y) << " Target: " << percentage * image.rows << std::endl;
  // std::cout << "Difference: " << std::abs(botLeft.x - topLeft.x) << " Target: " << percentage * image.cols << std::endl;
 
  return std::abs(topLeft.y - topRight.y) < percentage * image.rows&&
        std::abs(topRight.x - botRight.x) < percentage * image.cols&&
        std::abs(botRight.y - botLeft.y) < percentage * image.rows&&
        std::abs(botLeft.x - topLeft.x) < percentage * image.cols;
}

Referenced by onImgCallback(), and test_detection_loop().

Here is the caller graph for this function:

drawBox()

void QRCodeDetectionNode::drawBox ( cv::Mat &  im, cv::Mat &  bbox  )

private

Definition at line 161 of file QRCodeDetectionNode.cpp.

                                                          {
  int n = bbox.rows;
  for(int i = 0 ; i < n ; i++){
    cv::line(
      image, 
      cv::Point2i(bbox.at<float>(i,0),bbox.at<float>(i,1)), 
      cv::Point2i(bbox.at<float>((i+1) % n,0), bbox.at<float>((i+1) % n,1)), cv::Scalar(255,0,0), 
      3
    );
  }
}

Referenced by onImgCallback(), and test_detection_loop().

Here is the caller graph for this function:

onImgCallback()

void QRCodeDetectionNode::onImgCallback

(

const sensor_msgs::msg::Image::SharedPtr

p_ImgMsg

)

Definition at line 50 of file QRCodeDetectionNode.cpp.

                                                                                  {
  cv::Mat boundingBox;
  cv::Mat image = cv_bridge::toCvShare(p_ImgMsg, "bgr8")->image;
 
  bool foundQR = this->m_detector.detect(image, boundingBox);
 
  // check if bounding box is a clean rectangle
  foundQR = foundQR && this->checkBoundingBox(boundingBox, image);
  if(foundQR){
    this->drawBox(image, boundingBox);
  }
 
  // Publish results
  // this->publishImage(image); // enable for debug
  if(foundQR && m_foundQRCount <= m_foundQRCountForSendingMessage * 2){
    m_foundQRCount++;
  }
  else if(!foundQR && m_foundQRCount >= 0) {
    m_foundQRCount--;
  }
  
  if(m_foundQRCount >= m_foundQRCountForSendingMessage) {
    log("Sending message: QR Code found.");
 
    m_qrCodeFoundSometime = true;
    this->publishQR(p_ImgMsg->header.stamp, true);
  }
  else {
    log("Sending message: QR Code NOT found.");
    this->publishQR(p_ImgMsg->header.stamp, false);
 
    if(m_qrCodeFoundSometime) {
      log("Node stopped.");
      std::this_thread::sleep_for(std::chrono::milliseconds(250));
      std::exit(0);
    }
  }
}

References checkBoundingBox(), drawBox(), galaxis::utils::log(), m_detector, m_foundQRCount, m_foundQRCountForSendingMessage, m_qrCodeFoundSometime, and publishQR().

Referenced by QRCodeDetectionNode().

Here is the call graph for this function:

Here is the caller graph for this function:

publishImage()

void QRCodeDetectionNode::publishImage ( cv::Mat &  image )

private

publishQR()

void QRCodeDetectionNode::publishQR ( rclcpp::Time  stamp, bool  detected  )

private

Definition at line 125 of file QRCodeDetectionNode.cpp.

                                                                  {
  std::unique_ptr<QRCodeDetectType> qrMsgUPtr = std::make_unique<QRCodeDetectType>();
  qrMsgUPtr->header.stamp = stamp;
  qrMsgUPtr->detected = detected;
 
  m_qrCodeDetectionPubSPtr->publish(std::move(qrMsgUPtr));
}

References m_qrCodeDetectionPubSPtr.

Referenced by onImgCallback(), and test_detection_loop().

Here is the caller graph for this function:

test_detection_loop()

void QRCodeDetectionNode::test_detection_loop

(

std::string

path

)

Definition at line 89 of file QRCodeDetectionNode.cpp.

                                                           {
  cv::VideoCapture cap = cv::VideoCapture(path);
  if(!cap.isOpened()){
    log_error("Error openning video stream or file");
  }
  cv::Mat frame, boundingBox;
  int frameCounter = 0;
 
  while(cap.isOpened()){
    bool ret = cap.read(frame);
    frameCounter++;
 
    // reset video to beginning if end has been reached
    if(frameCounter == cap.get(cv::CAP_PROP_FRAME_COUNT)){
      frameCounter = 0;
      cap.set(cv::CAP_PROP_POS_FRAMES, 0);
    }
    if(!ret){continue;}
 
    bool foundQR = m_detector.detect(frame, boundingBox);
    // check if bounding box is a clean rectangle
    foundQR = foundQR && this->checkBoundingBox(boundingBox, frame);
 
    if(foundQR){
      // draw bounding box on frame 
      drawBox(frame, boundingBox);
      cv::imshow("detection", frame);
      cv::waitKey(1);
      // this->publishImage(frame);
    }
    // publish detection
    this->publishQR(this->get_clock()->now(), foundQR);
  }
  cap.release();
}

References checkBoundingBox(), drawBox(), galaxis::utils::log_error(), m_detector, and publishQR().

Here is the call graph for this function:

Member Data Documentation

m_detector

cv::QRCodeDetector QRCodeDetectionNode::m_detector

private

Definition at line 20 of file QRCodeDetectionNode.hpp.

Referenced by onImgCallback(), QRCodeDetectionNode(), and test_detection_loop().

m_foundQRCount

int QRCodeDetectionNode::m_foundQRCount = 0

private

Definition at line 31 of file QRCodeDetectionNode.hpp.

Referenced by onImgCallback().

m_foundQRCountForSendingMessage

int QRCodeDetectionNode::m_foundQRCountForSendingMessage = 10

private

Definition at line 32 of file QRCodeDetectionNode.hpp.

Referenced by onImgCallback().

m_imgBridge

cv_bridge::CvImage QRCodeDetectionNode::m_imgBridge

private

Definition at line 21 of file QRCodeDetectionNode.hpp.

m_imgSubscriber

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr QRCodeDetectionNode::m_imgSubscriber

private

Definition at line 29 of file QRCodeDetectionNode.hpp.

Referenced by QRCodeDetectionNode().

m_publisherSeqNumber

int QRCodeDetectionNode::m_publisherSeqNumber = 0

private

Definition at line 26 of file QRCodeDetectionNode.hpp.

m_qrCodeDetectionPubSPtr

rclcpp::Publisher<QRCodeDetectType>::SharedPtr QRCodeDetectionNode::m_qrCodeDetectionPubSPtr

private

Definition at line 27 of file QRCodeDetectionNode.hpp.

Referenced by publishQR(), and QRCodeDetectionNode().

m_qrCodeFoundSometime

bool QRCodeDetectionNode::m_qrCodeFoundSometime = false

private

Definition at line 34 of file QRCodeDetectionNode.hpp.

Referenced by onImgCallback().

m_qrCodeVisible

bool QRCodeDetectionNode::m_qrCodeVisible = false

private

Definition at line 19 of file QRCodeDetectionNode.hpp.

m_settingsJsonFilename

std::string QRCodeDetectionNode::m_settingsJsonFilename

private

Definition at line 23 of file QRCodeDetectionNode.hpp.

---

The documentation for this class was generated from the following files:

• nodes/QRCodeDetectorNode/include/QRCodeDetectionNode.hpp
• nodes/QRCodeDetectorNode/src/QRCodeDetectionNode.cpp