Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
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 = nullptr;
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 != nullptr);
79 
80  dec = dmtxDecodeCreate(img, 1);
81  assert(dec != nullptr);
82 
83  bool end = false;
84  do {
85  reg = dmtxRegionFindNext(dec, dmtx_timeout);
86 
87  if (reg != nullptr) {
88  msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
89  if (msg != nullptr) {
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
134 void 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) vp_override
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 getWidth() const
Definition: vpImage.h:245
Type * bitmap
points toward the bitmap
Definition: vpImage.h:139
unsigned int getHeight() const
Definition: vpImage.h:184