void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_img_ptr;
msg->header;
try
{
cv_img_ptr = cv_bridge::toCvCopy(msg, "mono8");
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR_STREAM("Could not convert ROS image to CV: "<< e.what());
return;
}
static int id = 0;
int n = reader_.parse(cv_img_ptr);
ROS_DEBUG_STREAM("Got image, has "<<n<<" barcodes");
std::vector<barcode::Barcode> barcodes = reader_.getBarcodes();
for (uint i = 0; i < reader_.getBarcodes().size(); i++)
{
ROS_DEBUG_STREAM("Barcode: " << barcodes[i].data //
<< " x:"<<barcodes[i].x//
<< " y:"<<barcodes[i].y);
vis_.publish(barcodes[i].x, barcodes[i].y, barcodes[i].z, msg->header.frame_id, id++ % 1000);
}
if (msg->header.frame_id == "")
{
ROS_ERROR_THROTTLE(1, "Received image with empty frame_id, would cause tf connectivity issues.");
}
object_pub_.publish(barcodes, msg);
}
