Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpDetectorDataMatrixCode.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
35
36#include <assert.h>
37
38#include <visp3/core/vpConfig.h>
39
40#ifdef VISP_HAVE_DMTX
41
42#include <dmtx.h>
43
44#include <visp3/detection/vpDetectorDataMatrixCode.h>
45
51
60{
61 bool detected = false;
62 m_message.clear();
63 m_polygon.clear();
64 m_nb_objects = 0;
65 DmtxRegion *reg;
66 DmtxDecode *dec;
67 DmtxImage *img;
68 DmtxMessage *msg;
69
70 DmtxTime *dmtx_timeout = NULL;
71 if (m_timeout_ms) {
72 dmtx_timeout = new DmtxTime;
73 *dmtx_timeout = dmtxTimeNow();
74 dmtx_timeout->usec += m_timeout_ms * 1000;
75 }
76
77 img = dmtxImageCreate(I.bitmap, (int)I.getWidth(), (int)I.getHeight(), DmtxPack8bppK);
78 assert(img != NULL);
79
80 dec = dmtxDecodeCreate(img, 1);
81 assert(dec != NULL);
82
83 bool end = false;
84 do {
85 reg = dmtxRegionFindNext(dec, dmtx_timeout);
86
87 if (reg != NULL) {
88 msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
89 if (msg != NULL) {
90
91 std::vector<vpImagePoint> polygon;
92
93 DmtxVector2 p00, p10, p11, p01;
94
95 p00.X = p00.Y = p10.Y = p01.X = 0.0;
96 p10.X = p01.Y = p11.X = p11.Y = 1.0;
97 dmtxMatrix3VMultiplyBy(&p00, reg->fit2raw);
98 dmtxMatrix3VMultiplyBy(&p10, reg->fit2raw);
99 dmtxMatrix3VMultiplyBy(&p11, reg->fit2raw);
100 dmtxMatrix3VMultiplyBy(&p01, reg->fit2raw);
101
102 polygon.push_back(vpImagePoint(I.getHeight() - p00.Y, p00.X));
103 polygon.push_back(vpImagePoint(I.getHeight() - p10.Y, p10.X));
104 polygon.push_back(vpImagePoint(I.getHeight() - p11.Y, p11.X));
105 polygon.push_back(vpImagePoint(I.getHeight() - p01.Y, p01.X));
106
107 m_polygon.push_back(polygon);
108 detected = true;
109 m_message.push_back((const char *)msg->output);
110
111 m_nb_objects++;
112 } else {
113 end = true;
114 }
115 dmtxMessageDestroy(&msg);
116 } else {
117 end = true;
118 }
119 dmtxRegionDestroy(&reg);
120
121 } while (!end);
122
123 dmtxDecodeDestroy(&dec);
124 dmtxImageDestroy(&img);
125 if (dmtx_timeout) {
126 delete dmtx_timeout;
127 }
128 return detected;
129}
130
131#elif !defined(VISP_BUILD_SHARED_LIBS)
132// Work around to avoid warning:
133// libvisp_core.a(vpDetectorDataMatrixCode.cpp.o) has no symbols
134void dummy_vpDetectorDataMatrixCode(){};
135#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 of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
Type * bitmap
points toward the bitmap
Definition vpImage.h:139
unsigned int getHeight() const
Definition vpImage.h:184