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README.md

hiwr_code_scanner

The hiwr_code_scanner aims to read a video stream and retrieve symbols, like qr codes or common bar codes. It can retrieve the following formats, thanks to Zbar library:

  • EAN-8
  • UPC-E
  • ISBN-10 (from EAN-13)
  • UPC-A
  • EAN-13
  • ISBN-13 (from EAN-13)
  • Interleaved 2 of 5
  • Code 39
  • PDF417
  • QR Code
  • Code 128

Contributing

Contributions via pull request are welcome and may be included under the same license as below.

Copyright

hiwr_code_scanner, except where otherwise noted, is released under the Apache License 2.0. See the LICENSE file located in the root directory.

How it works

The node take in input a video stream, provided for instance by hiwr_camera_controller. Each image is analyzed and the first recognized symbol is published to a specific topic.

In order to improve general performances, the node is defined as a nodelet. It shares memory with the camera node, also defined as a nodelet. The main result is that there is no recopy of images between nodes.

Build

build instructions

Execution

To start hiwr_code_scanner, do the following (assuming, you have a working ROS core running, a touchscreen using ts library):

Make sure your project is compiled and sourced.

Launch with an existing video stream topic:

<node pkg="nodelet" type="nodelet" name="bar_code" args="load hiwr_code_scanner/HiwrCodeScannerNodelet nodelet_manager">
    <param name="video_stream" type="str" value="/camStream/output_video" />
    <rosparam file="$(find hiwr_code_scanner)/param/config_Bar_Code.yaml"/>
</node>

Node

Subscribed Topics

  • /hiwr_camera_controller/output_video * The video stream of the camera

Published Topics

  • /hiwr_code_scanner/code * Send every detected bar code

Services

  • /hiwr_code_scanner/setSpinningState (Bool) * Enable or disable detection

  • /hiwr_code_scanner/getSpinningState (Bool) * Get detection state

Parameters

  • symbol_type (int) define the symbol_type to retrieve, 0 means all

About

The hiwr_code_scanner aims to retrieve symbols, like qr codes or common bar codes.

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