Visual Servoing Platform  version 3.6.1 under development (2025-02-17)
tutorial-barcode-detector-live.cpp
1 #include <iostream>
3 
4 #include <visp3/core/vpConfig.h>
5 
7 // Comment / uncomment following lines to use the specific 3rd party compatible with your camera
8 // #undef VISP_HAVE_V4L2
9 // #undef HAVE_OPENCV_HIGHGUI
10 // #undef HAVE_OPENCV_VIDEOIO
12 
13 #if (defined(VISP_HAVE_ZBAR) || defined(VISP_HAVE_DMTX)) && (defined(VISP_HAVE_V4L2) || \
14  ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
15 
16 #include <visp3/core/vpImageConvert.h>
17 #include <visp3/detection/vpDetectorDataMatrixCode.h>
18 #include <visp3/detection/vpDetectorQRCode.h>
19 #include <visp3/gui/vpDisplayFactory.h>
20 #ifdef VISP_HAVE_MODULE_SENSOR
21 #include <visp3/sensor/vpV4l2Grabber.h>
22 #endif
23 
24 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
25 #include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
26 #elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
27 #include <opencv2/videoio/videoio.hpp> // for cv::VideoCapture
28 #endif
29 
30 int main(int argc, const char **argv)
31 {
32 #ifdef ENABLE_VISP_NAMESPACE
33  using namespace VISP_NAMESPACE_NAME;
34 #endif
35  int opt_device = 0;
36  int opt_barcode = 0; // 0=QRCode, 1=DataMatrix
37 
38  for (int i = 1; i < argc; i++) {
39  if (std::string(argv[i]) == "--device" && i + 1 < argc) {
40  opt_device = atoi(argv[++i]);
41  }
42  else if (std::string(argv[i]) == "--code-type" && i + 1 < argc) {
43  opt_barcode = atoi(argv[++i]);
44  }
45  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
46  std::cout << "Usage: " << argv[0]
47  << " [--device <camera number>]"
48  << " [--code-type <0 for QR code | 1 for DataMatrix code>]"
49  << " [--help] [-h]"
50  << std::endl;
51  return EXIT_SUCCESS;
52  }
53  }
54  std::cout << "Use device: " << opt_device << std::endl;
55 
56 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
57  std::shared_ptr<vpDisplay> display;
58 #else
59  vpDisplay *display = nullptr;
60 #endif
61  try {
62  vpImage<unsigned char> I; // for gray images
63 
65 #if defined(VISP_HAVE_V4L2)
66  vpV4l2Grabber g;
67  std::ostringstream device;
68  device << "/dev/video" << opt_device;
69  g.setDevice(device.str());
70  g.setScale(1);
71  g.acquire(I);
72 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
73  cv::VideoCapture cap(opt_device); // open the default camera
74  if (!cap.isOpened()) { // check if we succeeded
75  std::cout << "Failed to open the camera" << std::endl;
76  return EXIT_FAILURE;
77  }
78  cv::Mat frame;
79  cap >> frame; // get a new frame from camera
80  vpImageConvert::convert(frame, I);
81 #endif
83 
84 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
86 #else
88 #endif
89  vpDisplay::setTitle(I, "ViSP viewer");
90 
91  vpDetectorBase *detector = nullptr;
92 #if (defined(VISP_HAVE_ZBAR) && defined(VISP_HAVE_DMTX))
93  if (opt_barcode == 0)
94  detector = new vpDetectorQRCode;
95  else
96  detector = new vpDetectorDataMatrixCode;
97 #elif defined(VISP_HAVE_ZBAR)
98  detector = new vpDetectorQRCode;
99  (void)opt_barcode;
100 #elif defined(VISP_HAVE_DMTX)
101  detector = new vpDetectorDataMatrixCode;
102  (void)opt_barcode;
103 #endif
104 
105  for (;;) {
107 #if defined(VISP_HAVE_V4L2)
108  g.acquire(I);
109 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
110  cap >> frame; // get a new frame from camera
111  vpImageConvert::convert(frame, I);
112 #endif
115 
116  bool status = detector->detect(I);
117  std::ostringstream legend;
118  legend << detector->getNbObjects() << " bar code detected";
119  vpDisplay::displayText(I, 10, 10, legend.str(), vpColor::red);
120 
121  if (status) {
122  for (size_t i = 0; i < detector->getNbObjects(); i++) {
123  std::vector<vpImagePoint> p = detector->getPolygon(i);
124  vpRect bbox = detector->getBBox(i);
126  vpDisplay::displayText(I, (int)bbox.getTop() - 20, (int)bbox.getLeft(),
127  "Message: \"" + detector->getMessage(i) + "\"", vpColor::red);
128  for (size_t j = 0; j < p.size(); j++) {
129  vpDisplay::displayCross(I, p[j], 14, vpColor::red, 3);
130  std::ostringstream number;
131  number << j;
132  vpDisplay::displayText(I, p[j] + vpImagePoint(10, 0), number.str(), vpColor::blue);
133  }
134  }
135  }
136 
137  vpDisplay::displayText(I, (int)I.getHeight() - 25, 10, "Click to quit...", vpColor::red);
138  vpDisplay::flush(I);
139  if (vpDisplay::getClick(I, false)) // a click to exit
140  break;
141  }
142  delete detector;
143  }
144  catch (const vpException &e) {
145  std::cout << "Catch an exception: " << e << std::endl;
146  }
147 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
148  vpDisplay *display = nullptr;
149 #endif
150 }
151 
152 #else
153 
154 int main()
155 {
156  std::cout << "There are missing 3rd parties to run this tutorial" << std::endl;
157 }
158 
159 #endif
static const vpColor red
Definition: vpColor.h:198
static const vpColor blue
Definition: vpColor.h:204
static const vpColor green
Definition: vpColor.h:201
std::vector< std::vector< vpImagePoint > > & getPolygon()
vpRect getBBox(size_t i) const
size_t getNbObjects() const
std::vector< std::string > & getMessage()
virtual bool detect(const vpImage< unsigned char > &I)=0
Class that defines generic functionalities for display.
Definition: vpDisplay.h:178
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition: vpException.h:60
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
unsigned int getHeight() const
Definition: vpImage.h:181
Defines a rectangle in the plane.
Definition: vpRect.h:79
double getLeft() const
Definition: vpRect.h:173
double getTop() const
Definition: vpRect.h:192
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.