TextReader(const char* correlation, const char* dictionary) :
it_(nh_)//, cloud(new pcl::PointCloud<pcl::PointXYZRGB>), viewer(new pcl::visualization::PCLVisualizer("3D Viewer"))
{
/*
* advertise on topic "text_detect" the result
* subscribe on topic "image_color" for the camera picture with Callback-function "imageCb"
* subscribe on topic "/base_odometry/state" with Callback-function "robotStateCb" for detecting camera movement
*/
image_pub_ = it_.advertise("text_detect", 1);
image_sub_ = it_.subscribe("image_color", 1, &TextReader::imageCb, this);
robot_state_sub_ = nh_.subscribe("/base_odometry/state", 1, &TextReader::robotStateCb, this);
// depth_sub_ = nh_.subscribe("/camera/depth_registered/points", 1, &TextReader::depthCb, this);
detector = DetectText();
detector.readLetterCorrelation(correlation);
detector.readWordList(dictionary);
pthread_mutex_init(&pr2_velocity_lock_, NULL);
pthread_mutex_init(&pr2_image_lock_, NULL);
okToDetect_ = false;
initialized_ = false;
x_ = 0;
y_ = 0;
}
int run_detection(int argc, char* argv[])
{
#ifdef RUNNING_DETECTOR
DetectText detector = DetectText();
detector.readLetterCorrelation(argv[1]);
detector.readWordList(argv[2]);
#endif
// Use any available capture source/camera
VideoCapture capitan( 1 );//CV_CAP_ANY );
// Check that the capture source was successfully opened
if ( !capitan.isOpened() )
{
cout << "ERROR: capture is NULL \n";
getchar();
exit(-1);
}
// Get size of capture source's image output (usually 640x480)
Size capitanSz = Size( (int) capitan.get(CV_CAP_PROP_FRAME_WIDTH),
(int) capitan.get(CV_CAP_PROP_FRAME_HEIGHT));
// Create our first window
namedWindow( WIN_DOH );//, CV_WINDOW_AUTOSIZE );
#ifdef RUNNING_DETECTOR
// Create our second window
namedWindow( WIN_DER );//, CV_WINDOW_AUTOSIZE );
#endif
// Move the first window to top left corner of screen
cvMoveWindow(WIN_DOH, 0, 20);
#ifdef RUNNING_DETECTOR
// Move the second window to right side of first window
cvMoveWindow(WIN_DER, capitanSz.width, 20);
#endif
Mat detect_frame;
// Start our infinite loop
while (1)
{
// Create empty Mat for storage of the captured image frame
Mat capture_frame;
Mat gray_frame;
// Capture an image frame from the source
capitan >> capture_frame;
// Check that the capture source actually gave us image data
if (capture_frame.empty())
{
cout << "ERROR: frame is null...\n";
getchar();
break;
}
// Convert the raw color image to a grayscale image
cvtColor( capture_frame, gray_frame, CV_BGR2GRAY );
// Down-scale the grayscale image by 2 (640x480 -> 320x240)
// pyrDown( gray_frame, gray_frame, Size( gray_frame.cols/2, gray_frame.rows/2) );
// Show the grayscale and downsized image in the first auto-sized window
imshow( WIN_DOH, gray_frame );
char temp = waitKey(10);
// Check what key was pressed
// if temp==-1, then waitKey() timed out (there was no keypress)
if (temp>=0)
{
// If it was a 'f', then save the frame to a file in the local directory
if (temp == 'f')
{
imwrite("./frame_grab.jpg", capture_frame);
#ifdef RUNNING_DETECTOR
detector.detect("./frame_grab.jpg");
detect_frame = imread("./frame_grab_detection.jpg");
// Show the captured image frame in the auto-sized window
imshow( WIN_DER, detect_frame );
#endif
}
// Otherwise, break the loop and exit the program
else if (temp == 'q')
{
break;
}
}
}
/*
if (argc < 4)
{
cout << "not enough input: detect_text <image> <correlation> <dictionary>"
<< endl;
return -1;
}
DetectText detector = DetectText();
detector.readLetterCorrelation(argv[2]);
detector.readWordList(argv[3]);
detector.detect(string(argv[1]));
*/
return 0;
}