Visual Servoing Platform version 3.5.0
vpDetectorDataMatrixCode.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Base class for bar code detection.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#include <assert.h>
40
41#include <visp3/core/vpConfig.h>
42
43#ifdef VISP_HAVE_DMTX
44
45#include <dmtx.h>
46
47#include <visp3/detection/vpDetectorDataMatrixCode.h>
48
54
63{
64 bool detected = false;
65 m_message.clear();
66 m_polygon.clear();
67 m_nb_objects = 0;
68 DmtxRegion *reg;
69 DmtxDecode *dec;
70 DmtxImage *img;
71 DmtxMessage *msg;
72
73 DmtxTime *dmtx_timeout = NULL;
74 if (m_timeout_ms) {
75 dmtx_timeout = new DmtxTime;
76 *dmtx_timeout = dmtxTimeNow();
77 dmtx_timeout->usec += m_timeout_ms * 1000;
78 }
79
80 img = dmtxImageCreate(I.bitmap, (int)I.getWidth(), (int)I.getHeight(), DmtxPack8bppK);
81 assert(img != NULL);
82
83 dec = dmtxDecodeCreate(img, 1);
84 assert(dec != NULL);
85
86 bool end = false;
87 do {
88 reg = dmtxRegionFindNext(dec, dmtx_timeout);
89
90 if (reg != NULL) {
91 msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
92 if (msg != NULL) {
93
94 std::vector<vpImagePoint> polygon;
95
96 DmtxVector2 p00, p10, p11, p01;
97
98 p00.X = p00.Y = p10.Y = p01.X = 0.0;
99 p10.X = p01.Y = p11.X = p11.Y = 1.0;
100 dmtxMatrix3VMultiplyBy(&p00, reg->fit2raw);
101 dmtxMatrix3VMultiplyBy(&p10, reg->fit2raw);
102 dmtxMatrix3VMultiplyBy(&p11, reg->fit2raw);
103 dmtxMatrix3VMultiplyBy(&p01, reg->fit2raw);
104
105 polygon.push_back(vpImagePoint(I.getHeight() - p00.Y, p00.X));
106 polygon.push_back(vpImagePoint(I.getHeight() - p10.Y, p10.X));
107 polygon.push_back(vpImagePoint(I.getHeight() - p11.Y, p11.X));
108 polygon.push_back(vpImagePoint(I.getHeight() - p01.Y, p01.X));
109
110 m_polygon.push_back(polygon);
111 detected = true;
112 m_message.push_back((const char *)msg->output);
113
114 m_nb_objects++;
115 } else {
116 end = true;
117 }
118 dmtxMessageDestroy(&msg);
119 } else {
120 end = true;
121 }
122 dmtxRegionDestroy(&reg);
123
124 } while (!end);
125
126 dmtxDecodeDestroy(&dec);
127 dmtxImageDestroy(&img);
128 if (dmtx_timeout) {
129 delete dmtx_timeout;
130 }
131 return detected;
132}
133
134#elif !defined(VISP_BUILD_SHARED_LIBS)
135// Work arround to avoid warning:
136// libvisp_core.a(vpDetectorDataMatrixCode.cpp.o) has no symbols
137void dummy_vpDetectorDataMatrixCode(){};
138#endif
std::vector< std::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > m_polygon
For each object, defines the polygon that contains the object.
void setTimeout(unsigned long timeout_ms)
size_t m_nb_objects
Number of detected objects.
unsigned long m_timeout_ms
Detection timeout.
bool detect(const vpImage< unsigned char > &I)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned int getWidth() const
Definition: vpImage.h:246
Type * bitmap
points toward the bitmap
Definition: vpImage.h:143
unsigned int getHeight() const
Definition: vpImage.h:188