QReader.hpp

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#ifndef INCLUDE_PACKAGE_IDENTIFICATION_USING_TURTLEBOT_QREADER_HPP_
#define INCLUDE_PACKAGE_IDENTIFICATION_USING_TURTLEBOT_QREADER_HPP_

#include <image_transport/image_transport.h>
#include <vector>
#include <opencv2/opencv.hpp>

class QReader {
 public:
  QReader();

  ~QReader();

  void imageCb(const sensor_msgs::ImageConstPtr& msg);

  cv::Mat processFrame();
  std::vector<uint8_t> decodeQR();

  std::vector<uint8_t> returnBytes();

  void setImage(cv::Mat image);

 private:
  image_transport::Subscriber imgSub;
  std::vector<uint8_t> bytes;
  ros::NodeHandle nh;
  cv::Mat img;
  std::vector<cv::Point2f> possibleCenters;
  std::vector<float> estimatedModuleSize;
  int dimension = 21;
  image_transport::ImageTransport it;

  bool checkQCodeExists(cv::Mat&);
  bool checkRatio(std::vector<int>);
  bool isFinderPattern(const cv::Mat&, std::vector<int>, int, int);
  float checkVertical(const cv::Mat&, int, int, int, int);
  float checkHorizontal(const cv::Mat&, int, int, int, int);
  bool checkDiagonal(const cv::Mat&, float, float, int, int);
  float columnCenterEstimate(std::vector<int>, int);

  cv::Mat warpToCode(cv::Mat&);
  std::vector<std::vector<bool> > extractBits(cv::Mat&);
  void unmask(std::vector<std::vector<bool> >&);

  std::vector<uint8_t> decodeArray(const std::vector<std::vector<bool> >&);

  uint8_t getNumberValue(std::vector<bool>::iterator&, unsigned int);
};

#endif  // INCLUDE_PACKAGE_IDENTIFICATION_USING_TURTLEBOT_QREADER_HPP_